adhoc

completed
2026-09-18T06:30:10.059527+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
80
max_output_tokens
16000
max_speed_frac
0.25
model
claude-fable-5-1
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
1800
duration
1152 s
total steps
531
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

pour the left container into the red cup, then pour the right container into the red cup

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

overheat

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 80 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: pour the left container into the red cup, then pour the right container into the red cup
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 80 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: pour the left container into the red cup, then pour the right container into the red cup
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteTop view shows two bottles side by side in front of the arms with a red cup and blue cup behind them; the left (Clorox-style) bottle appears about 20 cm right of the left arm. Moving the left arm up and over toward that bottle to inspect it from above with the wrist camera.
move_to
left_x0.3400left_y-0.1900left_z0.3000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0193, 0.7986, 0.617, -0.3779, -0.0216, -0.0154, 0.9996, -0.0154, 0.7967, 0.6109, -0.3744, -0.0113, -0.0254, 0.9994] state[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1851 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.001 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.6085, -1.6342, 9.4564, 1.7802, -0.0171, 0.0024, -0.0562, -0.9504, -1.4701, 9.7983, 1.7167, -0.1392, 0.0855, -0.0708] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.34, "left_y": -0.19, "left_z": 0.3, "left_gripper": 1.0}, "note": "Top view shows two bottles side by side in front of the arms with a red cup and blue cup behind them; the left (Clorox-style) bottle appears about 20 cm right of the left arm. Moving the left arm up and over toward that bottle to inspect it from above with the wrist camera."})
tool
executing move_to over 18 steps (1.8s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteWrist camera shows the Clorox-style bottle's cap left of the jaw column by ~75 px, with the red cup straight ahead. Shifting the left arm ~7 cm left and slightly down to center the bottle neck under the jaws.
move_to
left_x0.3400left_y-0.1200left_z0.2700
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.7979, 1.3949, 1.404, -0.7647, -0.6334, -0.511, 0.9996, -0.0147, 0.7967, 0.6086, -0.3779, -0.0105, -0.0261, 0.9994] state[eef_state]: left_x=0.3378 left_y=-0.1915 left_z=0.2886 left_yaw=-0.014 left_pitch=-0.0262 left_roll=-0.0005 left_gripper=0.9996 right_x=0.2958 right_y=0.0011 right_z=0.1818 right_yaw=0.0005 right_pitch=-0.0057 right_roll=-0.001 right_gripper=0.9994 state[joint_eff]: [-0.3624, -5.2171, 8.9641, 1.4383, -0.5201, 0.0122, -0.0562, -0.3077, -0.8821, 7.2684, 1.7509, -0.0464, -0.0757, -0.0122] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.34, "left_y": -0.12, "left_z": 0.27}, "note": "Wrist camera shows the Clorox-style bottle's cap left of the jaw column by ~75 px, with the red cup straight ahead. Shifting the left arm ~7 cm left and slightly down to center the bottle neck under the jaws."})
tool
executing move_to over 7 steps (0.7s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe bottle cap now sits just left of the jaw column and forward of the fingertips in the wrist view. Nudging the left arm 2 cm right/forward and lowering to near cap height to line up the neck between the open jaws.
move_to
left_x0.3600left_y-0.1000left_z0.2400
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.5747, 1.224, 1.1801, -0.6582, -0.4847, -0.3656, 0.9996, -0.0147, 0.7967, 0.6086, -0.3782, -0.0105, -0.0261, 0.9994] state[eef_state]: left_x=0.341 left_y=-0.1185 left_z=0.2634 left_yaw=0.0167 left_pitch=-0.0491 left_roll=0.0093 left_gripper=0.9996 right_x=0.2957 right_y=0.0011 right_z=0.1817 right_yaw=0.0005 right_pitch=-0.0061 right_roll=-0.001 right_gripper=0.9994 state[joint_eff]: [-0.1162, -5.7094, 6.4479, 1.8681, 0.0317, 0.0952, -0.0122, -0.3214, -1.2513, 7.1453, 1.7167, -0.0269, -0.0464, -0.0122] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.1, "left_z": 0.24}, "note": "The bottle cap now sits just left of the jaw column and forward of the fingertips in the wrist view. Nudging the left arm 2 cm right/forward and lowering to near cap height to line up the neck between the open jaws."})
tool
executing move_to over 2 steps (0.2s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe bottle's open mouth is centred on the jaw column but still ahead of the fingertips in the wrist view. Advancing the left arm 4 cm forward so the neck passes between the open jaws.
move_to
left_x0.4000left_y-0.1000left_z0.2300
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.4664, 1.2427, 1.0828, -0.5503, -0.4095, -0.305, 0.9996, -0.0147, 0.7986, 0.6086, -0.3782, -0.0109, -0.0261, 0.9994] state[eef_state]: left_x=0.357 left_y=-0.0969 left_z=0.231 left_yaw=0.0331 left_pitch=-0.082 left_roll=0.021 left_gripper=0.9996 right_x=0.2959 right_y=0.0012 right_z=0.1812 right_yaw=0.0008 right_pitch=-0.008 right_roll=-0.0007 right_gripper=0.9994 state[joint_eff]: [-0.1162, -5.2581, 7.2821, 1.8193, -0.0952, 0.1343, -0.0122, -0.335, -1.2513, 7.0496, 1.7216, -0.0269, -0.0269, -0.0122] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.1, "left_z": 0.23}, "note": "The bottle's open mouth is centred on the jaw column but still ahead of the fingertips in the wrist view. Advancing the left arm 4 cm forward so the neck passes between the open jaws."})
tool
executing move_to over 4 steps (0.4s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe bottle mouth moved down about 30 px after the 4 cm advance and is still ahead of the jaws. Advancing another ~5 cm so the neck sits between the fingertips.
move_to
left_x0.4400left_y-0.0950left_z0.2100
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.4084, 1.3991, 1.1572, -0.5068, -0.3721, -0.2836, 0.9996, -0.0147, 0.7986, 0.6086, -0.3782, -0.0105, -0.0261, 0.9994] state[eef_state]: left_x=0.3932 left_y=-0.0963 left_z=0.2121 left_yaw=0.0514 left_pitch=-0.1281 left_roll=0.0336 left_gripper=0.9996 right_x=0.2959 right_y=0.0011 right_z=0.1812 right_yaw=0.0005 right_pitch=-0.008 right_roll=-0.0009 right_gripper=0.9994 state[joint_eff]: [0.0068, -6.2701, 9.4017, 1.7363, -0.0757, 0.1441, -0.0171, -0.335, -1.2786, 7.0632, 1.7558, -0.0171, -0.0366, -0.0171] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.095, "left_z": 0.21}, "note": "The bottle mouth moved down about 30 px after the 4 cm advance and is still ahead of the jaws. Advancing another ~5 cm so the neck sits between the fingertips."})
tool
executing move_to over 4 steps (0.4s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe last forward move did not execute (readback unchanged at x=0.39), so the IK likely stalled. Retrying with a slightly higher z and a smaller forward step to unstick it.
move_to
left_x0.4300left_y-0.0950left_z0.2500
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.4084, 1.3991, 1.1572, -0.5068, -0.3653, -0.2836, 0.9996, -0.0147, 0.7986, 0.6086, -0.3782, -0.0101, -0.0261, 0.9994] state[eef_state]: left_x=0.3931 left_y=-0.0974 left_z=0.2118 left_yaw=0.0458 left_pitch=-0.1302 left_roll=0.0294 left_gripper=0.9996 right_x=0.2959 right_y=0.001 right_z=0.1812 right_yaw=0.0002 right_pitch=-0.008 right_roll=-0.0011 right_gripper=0.9994 state[joint_eff]: [0.0068, -6.2291, 9.388, 1.6972, -0.1685, 0.1538, -0.0122, -0.2393, -1.2923, 7.0496, 1.707, -0.0317, -0.0562, -0.0122] camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.095, "left_z": 0.25}, "note": "The last forward move did not execute (readback unchanged at x=0.39), so the IK likely stalled. Retrying with a slightly higher z and a smaller forward step to unstick it."})
tool
executing move_to over 3 steps (0.3s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteTwo forward targets failed to move the arm at all; joints are unchanged so the IK appears stuck. Backing off (less x, more z) as the rig notes advise, before re-approaching.
move_to
left_x0.3600left_y-0.1000left_z0.2700
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.4084, 1.3991, 1.1572, -0.5068, -0.3653, -0.2836, 0.9996, -0.0147, 0.7986, 0.6086, -0.3782, -0.0105, -0.0261, 0.9994] state[eef_state]: left_x=0.3931 left_y=-0.0974 left_z=0.2118 left_yaw=0.0458 left_pitch=-0.1302 left_roll=0.0294 left_gripper=0.9996 right_x=0.2959 right_y=0.0011 right_z=0.1812 right_yaw=0.0005 right_pitch=-0.008 right_roll=-0.0009 right_gripper=0.9994 state[joint_eff]: [-0.0752, -5.8872, 9.4974, 1.6972, -0.1685, 0.1929, -0.0122, -0.1026, -1.2923, 7.0906, 1.7118, -0.0317, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.1, "left_z": 0.27}, "note": "Two forward targets failed to move the arm at all; joints are unchanged so the IK appears stuck. Backing off (less x, more z) as the rig notes advise, before re-approaching."})
tool
executing move_to over 4 steps (0.4s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteThe left arm is frozen at the same joint pose despite three different targets. Trying a sideways/up target with the orientation explicitly re-specified to see if the controller responds.
move_to
left_x0.3700left_y-0.1400left_z0.2500left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.4084, 1.3991, 1.1572, -0.5068, -0.3653, -0.2832, 0.9996, -0.0147, 0.7986, 0.6086, -0.3782, -0.0105, -0.0261, 0.9994] state[eef_state]: left_x=0.3931 left_y=-0.0974 left_z=0.2118 left_yaw=0.0456 left_pitch=-0.1302 left_roll=0.0297 left_gripper=0.9996 right_x=0.2959 right_y=0.0011 right_z=0.1812 right_yaw=0.0005 right_pitch=-0.008 right_roll=-0.0009 right_gripper=0.9994 state[joint_eff]: [-0.1162, -6.2701, 9.388, 1.7167, -0.2076, 0.1587, -0.0171, -0.335, -1.1829, 7.1863, 1.7753, -0.0317, -0.0708, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_y": -0.14, "left_z": 0.25, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0}, "note": "The left arm is frozen at the same joint pose despite three different targets. Trying a sideways/up target with the orientation explicitly re-specified to see if the controller responds."})
tool
executing move_to over 5 steps (0.5s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteArm responds when orientation is given explicitly. Bottle mouth now sits ~60 px left of the jaw column and ahead; moving right and forward to bring the neck between the jaws.
move_to
left_x0.4200left_y-0.0850left_z0.2300left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.5686, 1.3521, 1.15, -0.5056, -0.4503, -0.3332, 0.9996, -0.0147, 0.7986, 0.6086, -0.3782, -0.0101, -0.0261, 0.9994] state[eef_state]: left_x=0.3711 left_y=-0.1416 left_z=0.2305 left_yaw=-0.0215 left_pitch=-0.0663 left_roll=0.0201 left_gripper=0.9996 right_x=0.2959 right_y=0.001 right_z=0.1812 right_yaw=0.0002 right_pitch=-0.008 right_roll=-0.0011 right_gripper=0.9994 state[joint_eff]: [-0.294, -7.788, 6.8171, 1.8584, -0.3492, -0.0708, -0.0171, -0.1983, -1.2513, 7.0359, 1.7558, -0.022, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.085, "left_z": 0.23, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0}, "note": "Arm responds when orientation is given explicitly. Bottle mouth now sits ~60 px left of the jaw column and ahead; moving right and forward to bring the neck between the jaws."})
tool
executing move_to over 6 steps (0.6s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe bottle mouth is now centred on the jaw column just ahead of the fingertips, and the top view shows the gripper hovering right behind the neck. Advancing ~2.5 cm and lowering slightly so the open jaws straddle the neck below the mouth.
move_to
left_x0.4350left_y-0.0820left_z0.2100left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.3351, 1.3838, 1.116, -0.3656, -0.3122, -0.2226, 0.9996, -0.0147, 0.7986, 0.6083, -0.3824, -0.0105, -0.0261, 0.9994] state[eef_state]: left_x=0.4111 left_y=-0.0819 left_z=0.2236 left_yaw=0.039 left_pitch=-0.0391 left_roll=0.0008 left_gripper=0.9996 right_x=0.2953 right_y=0.0011 right_z=0.1801 right_yaw=0.0005 right_pitch=-0.0126 right_roll=-0.0009 right_gripper=0.9994 state[joint_eff]: [0.0205, -5.3675, 6.8308, 1.8486, -0.0464, 0.1685, -0.0122, -0.1162, -1.2103, 7.3915, 1.7558, -0.0415, -0.0513, -0.0122] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.435, "left_y": -0.082, "left_z": 0.21, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0}, "note": "The bottle mouth is now centred on the jaw column just ahead of the fingertips, and the top view shows the gripper hovering right behind the neck. Advancing ~2.5 cm and lowering slightly so the open jaws straddle the neck below the mouth."})
tool
executing move_to over 2 steps (0.2s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteThe bottle mouth now sits at the very bottom of the wrist image between the two jaws. Creeping 1 cm forward and 1.5 cm down so the jaws are around the neck, then I will close.
move_to
left_x0.4350left_y-0.0820left_z0.2050left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.3077, 1.4136, 1.1049, -0.2905, -0.2752, -0.1963, 0.9996, -0.0147, 0.7986, 0.6083, -0.3847, -0.0105, -0.0261, 0.9994] state[eef_state]: left_x=0.4242 left_y=-0.0807 left_z=0.2203 left_yaw=0.0214 left_pitch=-0.0143 left_roll=-0.0092 left_gripper=0.9996 right_x=0.295 right_y=0.0011 right_z=0.1797 right_yaw=0.0005 right_pitch=-0.0149 right_roll=-0.0008 right_gripper=0.9994 state[joint_eff]: [0.4718, -4.6564, 5.9419, 1.7216, -0.0317, 0.2515, -0.0122, -0.335, -1.2239, 7.0222, 1.7314, -0.0269, -0.0366, -0.0122] camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.435, "left_y": -0.082, "left_z": 0.205, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0}, "note": "The bottle mouth now sits at the very bottom of the wrist image between the two jaws. Creeping 1 cm forward and 1.5 cm down so the jaws are around the neck, then I will close."})
tool
executing move_to over 1 steps (0.1s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteThe left container is actually a wide-mouthed white jug with a handle on its right side, too wide to grip at the mouth. Shifting the left arm ~7 cm right to line up over the handle, which I plan to grasp.
move_to
left_x0.4300left_y-0.1500left_z0.2000left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.2939, 1.4612, 1.0809, -0.2386, -0.2611, -0.1825, 0.9996, -0.0147, 0.7986, 0.6083, -0.3847, -0.0105, -0.0261, 0.9994] state[eef_state]: left_x=0.4326 left_y=-0.0796 left_z=0.1997 left_yaw=0.0162 left_pitch=-0.0357 left_roll=0.0008 left_gripper=0.9996 right_x=0.295 right_y=0.0011 right_z=0.1797 right_yaw=0.0005 right_pitch=-0.0149 right_roll=-0.0008 right_gripper=0.9994 state[joint_eff]: [-0.1436, -7.6103, 7.3231, 1.9316, -0.0855, 0.1245, -0.0171, -0.3077, -1.2513, 7.0222, 1.746, -0.0415, -0.0317, -0.0122] camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.15, "left_z": 0.2, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0}, "note": "The left container is actually a wide-mouthed white jug with a handle on its right side, too wide to grip at the mouth. Shifting the left arm ~7 cm right to line up over the handle, which I plan to grasp."})
tool
executing move_to over 7 steps (0.7s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteThe jug handle is visible ~40 px right of the jaw column, curving down from the rim. Shifting the arm ~5 cm right and lowering to handle height with the jaws partly open to straddle the handle bar.
move_to
left_x0.4300left_y-0.2000left_z0.1600left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.7000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.4923, 1.533, 1.1004, -0.2218, -0.3969, -0.2787, 0.9996, -0.0147, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9994] state[eef_state]: left_x=0.424 left_y=-0.1458 left_z=0.1859 left_yaw=-0.0186 left_pitch=-0.0368 left_roll=0.0094 left_gripper=0.9996 right_x=0.2949 right_y=0.0011 right_z=0.1796 right_yaw=0.0005 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994 state[joint_eff]: [-0.294, -6.4068, 9.9077, 1.6874, -0.2418, 0.0415, -0.0171, -0.3487, -1.1556, 7.0222, 1.7265, -0.0366, -0.0415, -0.0122] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.2, "left_z": 0.16, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 0.7}, "note": "The jug handle is visible ~40 px right of the jaw column, curving down from the rim. Shifting the arm ~5 cm right and lowering to handle height with the jaws partly open to straddle the handle bar."})
tool
executing move_to over 5 steps (0.5s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteThe wrist camera is now staring straight into the jug's wide mouth, so the fingertips are probably inside it and the jug may have been dragged right by my last sideways move. Lifting straight up to re-survey the jug and cups before choosing a rim grasp.
move_to
left_x0.4240left_y-0.1960left_z0.3200left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.6243, 1.665, 1.1072, -0.1291, -0.5007, -0.3614, 0.7033, -0.0143, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9994] state[eef_state]: left_x=0.4237 left_y=-0.1963 left_z=0.1535 left_yaw=-0.0228 left_pitch=-0.0307 left_roll=0.0127 left_gripper=0.7033 right_x=0.2949 right_y=0.0012 right_z=0.1796 right_yaw=0.0009 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994 state[joint_eff]: [-0.2256, -6.7897, 8.9641, 1.4237, -0.2564, -0.0073, 0.1099, -0.0752, -1.2923, 7.0222, 1.7607, -0.0269, -0.0464, -0.0122] camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.424, "left_y": -0.196, "left_z": 0.32, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The wrist camera is now staring straight into the jug's wide mouth, so the fingertips are probably inside it and the jug may have been dragged right by my last sideways move. Lifting straight up to re-survey the jug and cups before choosing a rim grasp."})
tool
executing move_to over 11 steps (1.1s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteFrom above, the jug mouth is directly below the gripper (it was dragged ~5 cm right, now beside the white bottle) with the red cup straight ahead. Moving 5 cm left and down toward the jug's left rim wall so I can pinch the rim with one jaw inside and one outside.
move_to
left_x0.4200left_y-0.1500left_z0.2500left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.63, 1.6543, 1.697, -0.693, -0.5209, -0.3908, 0.9983, -0.0147, 0.7986, 0.6083, -0.3847, -0.0109, -0.0261, 0.9994] state[eef_state]: left_x=0.4273 left_y=-0.1983 left_z=0.3105 left_yaw=0.0028 left_pitch=0.0065 left_roll=-0.023 left_gripper=0.9983 right_x=0.295 right_y=0.0012 right_z=0.1797 right_yaw=0.0008 right_pitch=-0.0149 right_roll=-0.0006 right_gripper=0.9994 state[joint_eff]: [-0.3761, -7.1316, 8.7726, 1.4481, -0.3199, 0.1001, -0.022, -0.253, -0.8957, 7.0359, 1.7802, -0.0317, -0.0708, -0.0122] camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.15, "left_z": 0.25, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "From above, the jug mouth is directly below the gripper (it was dragged ~5 cm right, now beside the white bottle) with the red cup straight ahead. Moving 5 cm left and down toward the jug's left rim wall so I can pinch the rim with one jaw inside and one outside."})
tool
executing move_to over 5 steps (0.5s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteThe jug's near-left rim wall shows just right of the jaw column at the bottom of the wrist view. Shifting 2.5 cm right and descending to rim height so the open jaws straddle the rim wall.
move_to
left_x0.4200left_y-0.1720left_z0.1700left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.5247, 1.5379, 1.3205, -0.4835, -0.4664, -0.3363, 0.9988, -0.0147, 0.7986, 0.6083, -0.3843, -0.0105, -0.0261, 0.9994] state[eef_state]: left_x=0.4204 left_y=-0.1475 left_z=0.2348 left_yaw=0.0365 left_pitch=-0.055 left_roll=0.0229 left_gripper=0.9988 right_x=0.295 right_y=0.0011 right_z=0.1797 right_yaw=0.0005 right_pitch=-0.0145 right_roll=-0.0008 right_gripper=0.9994 state[joint_eff]: [-0.1573, -8.7316, 7.2, 1.8632, -0.0269, 0.1099, -0.1343, -0.2393, -1.2513, 7.0359, 1.79, -0.0464, -0.0562, -0.0171] camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.172, "left_z": 0.17, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The jug's near-left rim wall shows just right of the jaw column at the bottom of the wrist view. Shifting 2.5 cm right and descending to rim height so the open jaws straddle the rim wall."})
tool
executing move_to over 5 steps (0.5s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteThe descent stopped at z≈0.23 with the tool tilting, so a jaw landed on top of the jug rim (rim ≈ 0.22 m high). Lifting clear and shifting 3 cm left so the rim wall should fall between the jaws on the next descent.
move_to
left_x0.4300left_y-0.1400left_z0.2600left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.5671, 1.5265, 1.1145, -0.0746, -0.5022, -0.3714, 0.9988, -0.0147, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9994] state[eef_state]: left_x=0.4321 left_y=-0.1701 left_z=0.2276 left_yaw=0.0468 left_pitch=0.1341 left_roll=-0.1096 left_gripper=0.9988 right_x=0.2949 right_y=0.0011 right_z=0.1796 right_yaw=0.0005 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994 state[joint_eff]: [-1.0872, -2.7692, 3.5897, 0.1099, -0.0122, 0.3785, -0.1392, -0.0889, -1.1419, 7.0496, 1.7949, -0.0122, -0.0513, -0.0122] camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.14, "left_z": 0.26, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The descent stopped at z\u22480.23 with the tool tilting, so a jaw landed on top of the jug rim (rim \u2248 0.22 m high). Lifting clear and shifting 3 cm left so the rim wall should fall between the jaws on the next descent."})
tool
executing move_to over 5 steps (0.5s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThe jug's left rim edge now appears just right of the jaw column, so the wall should pass between the open jaws. Descending to z=0.17 so the jaws straddle the rim wall; a stopped descent would mean I am still on top of it.
move_to
left_x0.4350left_y-0.1400left_z0.1700left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.4824, 1.533, 1.298, -0.3534, -0.4324, -0.3145, 0.9988, -0.0147, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9994] state[eef_state]: left_x=0.4383 left_y=-0.1419 left_z=0.2494 left_yaw=0.0392 left_pitch=0.0309 left_roll=-0.0343 left_gripper=0.9988 right_x=0.2949 right_y=0.0011 right_z=0.1796 right_yaw=0.0005 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994 state[joint_eff]: [0.1573, -8.9641, 9.6752, 1.707, -0.0317, 0.1441, -0.1343, -0.1846, -1.265, 7.1863, 1.7265, -0.0366, -0.022, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.435, "left_y": -0.14, "left_z": 0.17, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The jug's left rim edge now appears just right of the jaw column, so the wall should pass between the open jaws. Descending to z=0.17 so the jaws straddle the rim wall; a stopped descent would mean I am still on top of it."})
tool
executing move_to over 6 steps (0.6s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteThe descent stopped again at z≈0.23: the right jaw is resting on the jug's closed, domed lid, so this is a capped jug whose lid centre is about 6 cm right of the jaw column. Lifting and centring over the lid so the open jaws can drop around it onto the neck.
move_to
left_x0.4350left_y-0.2000left_z0.2700left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.477, 1.5364, 1.2488, -0.3267, -0.4187, -0.3077, 0.9988, -0.0147, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9994] state[eef_state]: left_x=0.4363 left_y=-0.1406 left_z=0.2306 left_yaw=0.0295 left_pitch=0.0046 left_roll=-0.0224 left_gripper=0.9988 right_x=0.2949 right_y=0.0011 right_z=0.1796 right_yaw=0.0005 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994 state[joint_eff]: [-0.4171, -7.5145, 7.1863, 1.8339, -0.2418, -0.0366, -0.1343, -0.1573, -1.1145, 7.0085, 1.7167, -0.022, -0.0611, -0.0171] camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.435, "left_y": -0.2, "left_z": 0.27, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The descent stopped again at z\u22480.23: the right jaw is resting on the jug's closed, domed lid, so this is a capped jug whose lid centre is about 6 cm right of the jaw column. Lifting and centring over the lid so the open jaws can drop around it onto the neck."})
tool
executing move_to over 6 steps (0.6s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteThe arm did not move at all on the last command (jaw still resting on the jug lid). Sending a pure vertical lift first to break contact before re-centring.
move_to
left_z0.2800
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.477, 1.5364, 1.2488, -0.3267, -0.4191, -0.3077, 0.9988, -0.0147, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9994] state[eef_state]: left_x=0.4363 left_y=-0.1406 left_z=0.2306 left_yaw=0.0298 left_pitch=0.0047 left_roll=-0.0222 left_gripper=0.9988 right_x=0.2949 right_y=0.0011 right_z=0.1796 right_yaw=0.0005 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994 state[joint_eff]: [-0.294, -7.6376, 7.0906, 1.8144, -0.2906, -0.0464, -0.1392, -0.253, -1.2923, 7.0085, 1.7021, -0.0122, -0.0757, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.28}, "note": "The arm did not move at all on the last command (jaw still resting on the jug lid). Sending a pure vertical lift first to break contact before re-centring."})
tool
executing move_to over 4 steps (0.4s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteLift succeeded; the white jug's domed top now shows at the lower right of the wrist view about 8 cm right of the jaw column. Moving right to centre the open jaws over the jug's lid.
move_to
left_x0.4400left_y-0.2200left_z0.2700left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.4816, 1.5616, 1.4036, -0.4786, -0.4194, -0.3256, 0.9984, -0.0143, 0.7986, 0.6083, -0.3851, -0.0109, -0.0261, 0.9994] state[eef_state]: left_x=0.4384 left_y=-0.1439 left_z=0.2593 left_yaw=0.0351 left_pitch=-0.0146 left_roll=-0.0263 left_gripper=0.9984 right_x=0.2949 right_y=0.0013 right_z=0.1796 right_yaw=0.0012 right_pitch=-0.0153 right_roll=-0.0006 right_gripper=0.9994 state[joint_eff]: [-0.212, -8.759, 9.5932, 1.6972, -0.1392, 0.1685, -0.0611, -0.2667, -1.2513, 7.0085, 1.7021, -0.0317, -0.0366, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.22, "left_z": 0.27, "left_gripper": 1.0}, "note": "Lift succeeded; the white jug's domed top now shows at the lower right of the wrist view about 8 cm right of the jaw column. Moving right to centre the open jaws over the jug's lid."})
tool
executing move_to over 7 steps (0.7s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
agent noteThe jug's white cap is now centred just below the jaws in the wrist view with the red cup straight ahead. Descending with jaws fully open so they pass either side of the cap onto the neck.
move_to
left_x0.4400left_y-0.2300left_z0.1900left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.6514, 1.7256, 1.6119, -0.6018, -0.5327, -0.4454, 0.9988, -0.0147, 0.7986, 0.6083, -0.3851, -0.0109, -0.0261, 0.9994] state[eef_state]: left_x=0.4373 left_y=-0.2161 left_z=0.259 left_yaw=0.0203 left_pitch=-0.0412 left_roll=-0.0232 left_gripper=0.9988 right_x=0.2949 right_y=0.0012 right_z=0.1796 right_yaw=0.0008 right_pitch=-0.0153 right_roll=-0.0006 right_gripper=0.9994 state[joint_eff]: [-0.335, -8.2667, 8.9368, 1.4921, -0.3346, 0.0366, -0.1392, -0.0889, -1.2513, 7.0496, 1.7216, -0.0317, -0.0415, -0.0122] camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.23, "left_z": 0.19, "left_gripper": 1.0}, "note": "The jug's white cap is now centred just below the jaws in the wrist view with the red cup straight ahead. Descending with jaws fully open so they pass either side of the cap onto the neck."})
tool
executing move_to over 5 steps (0.5s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteThe jaws descended to z≈0.19 without stopping, so they should be around the jug's neck under the cap. Closing the gripper to grasp the neck.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.6708, 1.7653, 1.4067, -0.4191, -0.5434, -0.4618, 0.9988, -0.0147, 0.7986, 0.6083, -0.3847, -0.0109, -0.0261, 0.9994] state[eef_state]: left_x=0.4344 left_y=-0.2236 left_z=0.1861 left_yaw=0.0203 left_pitch=-0.085 left_roll=0.0084 left_gripper=0.9988 right_x=0.295 right_y=0.0012 right_z=0.1797 right_yaw=0.0008 right_pitch=-0.0149 right_roll=-0.0006 right_gripper=0.9994 state[joint_eff]: [-0.4171, -9.1966, 6.8991, 1.8437, -0.2906, -0.0317, -0.1392, -0.253, -1.0872, 7.0222, 1.707, -0.0659, -0.0757, -0.0122] camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The jaws descended to z\u22480.19 without stopping, so they should be around the jug's neck under the cap. Closing the gripper to grasp the neck."})
tool
executing move_to over 10 steps (1.0s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteGripper settled at 0.41 (~4 cm), consistent with holding the jug's neck. Lifting ~7 cm to confirm the jug comes with the jaws.
move_to
left_z0.2500
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.6712, 1.7786, 1.3922, -0.3985, -0.5461, -0.4801, 0.4127, -0.0147, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9994] state[eef_state]: left_x=0.4355 left_y=-0.2242 left_z=0.1775 left_yaw=0.0321 left_pitch=-0.0892 left_roll=-0.0002 left_gripper=0.4127 right_x=0.2949 right_y=0.0011 right_z=0.1796 right_yaw=0.0005 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994 state[joint_eff]: [-0.1162, -10.4957, 8.1299, 1.2772, -0.2369, 0.1392, 0.8913, -0.2256, -1.2513, 7.0496, 1.7021, -0.0269, -0.0611, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.25}, "note": "Gripper settled at 0.41 (~4 cm), consistent with holding the jug's neck. Lifting ~7 cm to confirm the jug comes with the jaws."})
tool
executing move_to over 5 steps (0.5s)
step 137
assistant
agent noteLift readback rose ~6 cm but the top view is ambiguous about whether the jug came up; the wrist view suggests it may be hanging tilted in the jaws. Lifting further to make the jug's base visibly clear the table.
move_to
left_z0.3100
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.6712, 1.7821, 1.6264, -0.6361, -0.5396, -0.49, 0.4134, -0.0143, 0.7986, 0.6083, -0.3847, -0.0109, -0.0257, 0.9994] state[eef_state]: left_x=0.4365 left_y=-0.2262 left_z=0.2339 left_yaw=0.0329 left_pitch=-0.0974 left_roll=-0.0072 left_gripper=0.4134 right_x=0.295 right_y=0.0013 right_z=0.1797 right_yaw=0.001 right_pitch=-0.0149 right_roll=-0.0003 right_gripper=0.9994 state[joint_eff]: [-0.253, -9.3333, 9.0462, 1.5556, -0.2955, 0.0708, 0.1197, -0.1026, -1.2786, 7.2, 1.7998, -0.0317, -0.0317, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.31}, "note": "Lift readback rose ~6 cm but the top view is ambiguous about whether the jug came up; the wrist view suggests it may be hanging tilted in the jaws. Lifting further to make the jug's base visibly clear the table."})
tool
executing move_to over 5 steps (0.5s)
step 142
assistant
agent noteThe jug is now clearly lifted with the gripper (wrist view of it unchanged through the lift). Carrying it forward and slightly left so it ends up beside the red cup, ready to tilt toward the cup with wrist roll.
move_to
left_x0.5000left_y-0.1600left_z0.3200
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.6712, 1.8591, 1.9858, -0.9123, -0.5392, -0.4999, 0.4148, -0.0147, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9994] state[eef_state]: left_x=0.4402 left_y=-0.2292 left_z=0.2989 left_yaw=0.0375 left_pitch=-0.0929 left_roll=-0.0193 left_gripper=0.4148 right_x=0.2949 right_y=0.0011 right_z=0.1796 right_yaw=0.0005 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994 state[joint_eff]: [-0.3487, -9.0462, 7.9658, 1.2039, -0.2515, 0.0464, 0.1294, -0.253, -1.1009, 7.1179, 1.7998, -0.0611, -0.0611, -0.0171] camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.5, "left_y": -0.16, "left_z": 0.32}, "note": "The jug is now clearly lifted with the gripper (wrist view of it unchanged through the lift). Carrying it forward and slightly left so it ends up beside the red cup, ready to tilt toward the cup with wrist roll."})
tool
executing move_to over 7 steps (0.7s)
step 149
assistant
agent noteTop view shows the jug held just over the red cup, which sits at roughly x≈0.51, y≈-0.17. Moving the jug 6 cm to the left of the cup and lowering so that rolling the wrist will tip the jug's mouth over the cup.
move_to
left_x0.5100left_y-0.1100left_z0.2400
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.453, 1.9484, 2.1376, -0.9615, -0.3908, -0.3714, 0.4149, -0.0143, 0.7986, 0.6079, -0.3851, -0.0105, -0.0261, 0.9994] state[eef_state]: left_x=0.4931 left_y=-0.1612 left_z=0.2997 left_yaw=0.0703 left_pitch=-0.1419 left_roll=-0.0117 left_gripper=0.4149 right_x=0.2949 right_y=0.0012 right_z=0.1794 right_yaw=0.0009 right_pitch=-0.0156 right_roll=-0.0008 right_gripper=0.9994 state[joint_eff]: [0.3214, -10.3726, 8.8957, 1.6093, -0.1636, 0.2466, 0.0024, -0.0889, -1.2923, 7.0632, 1.7216, -0.0317, -0.0366, -0.0171] camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.51, "left_y": -0.11, "left_z": 0.24}, "note": "Top view shows the jug held just over the red cup, which sits at roughly x\u22480.51, y\u2248-0.17. Moving the jug 6 cm to the left of the cup and lowering so that rolling the wrist will tip the jug's mouth over the cup."})
tool
executing move_to over 5 steps (0.5s)
step 154
assistant
agent noteDescent stopped at z≈0.28 with the jug apparently resting on the red cup's rim in the top view, so the cup is further left than estimated. Lifting the jug clear and moving it another 5 cm left of the cup.
move_to
left_x0.5100left_y-0.0600left_z0.3300
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.329, 1.832, 1.8023, -0.6144, -0.308, -0.3275, 0.4163, -0.0143, 0.7986, 0.6079, -0.3847, -0.0105, -0.0261, 0.9994] state[eef_state]: left_x=0.5159 left_y=-0.1158 left_z=0.2767 left_yaw=0.0975 left_pitch=-0.0517 left_roll=-0.0838 left_gripper=0.4163 right_x=0.2949 right_y=0.0012 right_z=0.1795 right_yaw=0.0009 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994 state[joint_eff]: [0.212, -7.8838, 4.5744, 0.4957, -0.232, 0.5543, 0.1294, -0.0068, -1.2513, 7.0632, 1.7753, -0.0562, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.51, "left_y": -0.06, "left_z": 0.33}, "note": "Descent stopped at z\u22480.28 with the jug apparently resting on the red cup's rim in the top view, so the cup is further left than estimated. Lifting the jug clear and moving it another 5 cm left of the cup."})
tool
executing move_to over 5 steps (0.5s)
step 159
assistant
agent noteThe arm is at its reach limit at x≈0.52 with the tool vertical, so the last target stalled. Pulling the jug back toward the base and left to regain reach margin before repositioning for the pour.
move_to
left_x0.4600left_y-0.0800left_z0.3000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.3153, 1.8286, 1.7779, -0.5591, -0.2905, -0.3134, 0.4164, -0.0143, 0.7986, 0.6079, -0.3851, -0.0105, -0.0261, 0.9994] state[eef_state]: left_x=0.522 left_y=-0.1133 left_z=0.2779 left_yaw=0.0886 left_pitch=-0.0238 left_roll=-0.0954 left_gripper=0.4164 right_x=0.2949 right_y=0.0012 right_z=0.1794 right_yaw=0.0009 right_pitch=-0.0156 right_roll=-0.0008 right_gripper=0.9994 state[joint_eff]: [-0.1436, -8.3897, 4.4239, 0.8718, -0.1294, 0.3346, -0.0073, -0.1026, -1.0872, 7.2821, 1.7021, -0.022, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.46, "left_y": -0.08, "left_z": 0.3}, "note": "The arm is at its reach limit at x\u22480.52 with the tool vertical, so the last target stalled. Pulling the jug back toward the base and left to regain reach margin before repositioning for the pour."})
tool
executing move_to over 5 steps (0.5s)
step 164
assistant
agent noteStill no motion; previously the arm unstuck when the orientation was re-specified explicitly. Re-sending the retreat target with yaw/pitch/roll set to zero.
move_to
left_x0.4600left_y-0.0800left_z0.3000left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.3153, 1.8286, 1.7771, -0.5587, -0.2905, -0.313, 0.4164, -0.0147, 0.7986, 0.6079, -0.3851, -0.0109, -0.0261, 0.9994] state[eef_state]: left_x=0.522 left_y=-0.1133 left_z=0.2776 left_yaw=0.0884 left_pitch=-0.0241 left_roll=-0.0949 left_gripper=0.4164 right_x=0.2949 right_y=0.0012 right_z=0.1794 right_yaw=0.0008 right_pitch=-0.0156 right_roll=-0.0006 right_gripper=0.9994 state[joint_eff]: [-0.2393, -8.4444, 4.5197, 0.862, -0.188, 0.3297, -0.0122, -0.2393, -1.1692, 7.0496, 1.7021, -0.0366, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.46, "left_y": -0.08, "left_z": 0.3, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0}, "note": "Still no motion; previously the arm unstuck when the orientation was re-specified explicitly. Re-sending the retreat target with yaw/pitch/roll set to zero."})
tool
executing move_to over 5 steps (0.5s)
step 169
assistant
agent noteThe jug (an open pitcher) is now held just left of the red cup, which sits at about x≈0.51, y≈-0.15. Edging forward and starting a positive wrist roll so the pitcher's mouth begins tipping toward the red cup.
move_to
left_x0.4900left_y-0.0850left_z0.2600left_yaw0.0000left_pitch0.0000left_roll0.7000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.2684, 1.6093, 1.5478, -0.5652, -0.2481, -0.1986, 0.4164, -0.0147, 0.8005, 0.6079, -0.3847, -0.0109, -0.0261, 0.9994] state[eef_state]: left_x=0.4695 left_y=-0.0804 left_z=0.2793 left_yaw=0.0396 left_pitch=-0.0453 left_roll=-0.0173 left_gripper=0.4164 right_x=0.295 right_y=0.0012 right_z=0.179 right_yaw=0.0008 right_pitch=-0.0172 right_roll=-0.0006 right_gripper=0.9994 state[joint_eff]: [0.0205, -10.4547, 7.6513, 2.1368, -0.0024, 0.1197, -0.0122, -0.294, -1.3607, 7.0359, 1.79, -0.0464, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.49, "left_y": -0.085, "left_z": 0.26, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.7}, "note": "The jug (an open pitcher) is now held just left of the red cup, which sits at about x\u22480.51, y\u2248-0.15. Edging forward and starting a positive wrist roll so the pitcher's mouth begins tipping toward the red cup."})
tool
executing move_to over 10 steps (1.0s)
step 179
assistant
agent noteThe pitcher is tilting toward the red cup, whose rim is visible right beside the pitcher's mouth in the wrist view. Completing the roll to ~80° so the pitcher pours into the red cup.
move_to
left_x0.4900left_y-0.0850left_z0.2600left_yaw0.0000left_pitch0.0000left_roll1.4000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.4099, 1.7149, 1.4639, -0.3931, -0.6529, 0.2897, 0.4165, -0.0147, 0.8024, 0.6079, -0.3847, -0.0109, -0.0261, 0.9994] state[eef_state]: left_x=0.4831 left_y=-0.089 left_z=0.2443 left_yaw=-0.0096 left_pitch=-0.0572 left_roll=0.6187 left_gripper=0.4165 right_x=0.2952 right_y=0.0012 right_z=0.1784 right_yaw=0.0008 right_pitch=-0.0191 right_roll=-0.0006 right_gripper=0.9994 state[joint_eff]: [-0.3761, -8.5675, 7.4735, 2.0098, -0.4274, 0.149, -0.0073, -0.3214, -1.4564, 7.0496, 1.7558, -0.022, -0.0464, -0.0171] camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.49, "left_y": -0.085, "left_z": 0.26, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 1.4}, "note": "The pitcher is tilting toward the red cup, whose rim is visible right beside the pitcher's mouth in the wrist view. Completing the roll to ~80\u00b0 so the pitcher pours into the red cup."})
tool
executing move_to over 10 steps (1.0s)
step 189
assistant
agent noteThe pitcher is tipped nearly horizontal with its mouth over the red cup — the first pour is done. Rolling the pitcher back upright and pulling it slightly back before setting it down.
move_to
left_x0.4700left_y-0.0800left_z0.2800left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.4873, 1.7821, 1.2148, 0.2272, -0.9962, 1.111, 0.4165, -0.0147, 0.8024, 0.6079, -0.3847, -0.0109, -0.0261, 0.9994] state[eef_state]: left_x=0.4873 left_y=-0.0864 left_z=0.2339 left_yaw=-0.0177 left_pitch=-0.0719 left_roll=1.3314 left_gripper=0.4165 right_x=0.2952 right_y=0.0012 right_z=0.1784 right_yaw=0.0008 right_pitch=-0.0191 right_roll=-0.0006 right_gripper=0.9994 state[joint_eff]: [-0.5265, -8.9641, 7.747, 2.044, -0.5055, 0.1294, -0.0122, -0.3761, -1.0188, 7.0359, 1.7314, -0.022, -0.0611, -0.0171] camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.47, "left_y": -0.08, "left_z": 0.28, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0}, "note": "The pitcher is tipped nearly horizontal with its mouth over the red cup \u2014 the first pour is done. Rolling the pitcher back upright and pulling it slightly back before setting it down."})
tool
executing move_to over 17 steps (1.7s)
step 206
assistant
agent notePitcher is upright again beside the red cup. Moving it back toward the base, left of the cups, and lowering until its base touches the table so I can release it.
move_to
left_x0.4000left_y-0.0600left_z0.1850left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.2668, 1.626, 1.4578, -0.4862, -0.2913, -0.0776, 0.4179, -0.0143, 0.8032, 0.6079, -0.3851, -0.0105, -0.0261, 0.9994] state[eef_state]: left_x=0.4736 left_y=-0.0732 left_z=0.2482 left_yaw=0.0134 left_pitch=-0.0682 left_roll=0.1144 left_gripper=0.4179 right_x=0.2952 right_y=0.0012 right_z=0.1782 right_yaw=0.0009 right_pitch=-0.0202 right_roll=-0.0007 right_gripper=0.9994 state[joint_eff]: [0.1983, -11.3846, 8.9094, 1.7509, -0.0757, -0.0464, 0.1392, -0.0752, -1.388, 7.1316, 1.7216, -0.0269, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.06, "left_z": 0.185, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0}, "note": "Pitcher is upright again beside the red cup. Moving it back toward the base, left of the cups, and lowering until its base touches the table so I can release it."})
tool
executing move_to over 6 steps (0.6s)
step 212
assistant
agent noteShoulder effort dropped as the pitcher's base met the table at z≈0.18. Opening the gripper to release the pitcher.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.2584, 1.3365, 0.8993, -0.1928, -0.2356, -0.1364, 0.4192, -0.0147, 0.8062, 0.6075, -0.3851, -0.0101, -0.0261, 0.9994] state[eef_state]: left_x=0.3997 left_y=-0.0593 left_z=0.1771 left_yaw=0.006 left_pitch=-0.0512 left_roll=0.0277 left_gripper=0.4192 right_x=0.2953 right_y=0.001 right_z=0.1771 right_yaw=0.0002 right_pitch=-0.0237 right_roll=-0.0009 right_gripper=0.9994 state[joint_eff]: [0.1983, -5.6137, 7.159, 1.4481, 0.022, 0.022, 0.1245, -0.3487, -1.5658, 7.0359, 1.7167, -0.0366, -0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "Shoulder effort dropped as the pitcher's base met the table at z\u22480.18. Opening the gripper to release the pitcher."})
tool
executing move_to over 6 steps (0.6s)
step 218
assistant
agent notePitcher released and standing left of the cups. Lifting the left gripper straight up clear of the pitcher before parking the arm.
move_to
left_z0.3200left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.2569, 1.3369, 0.8749, -0.1936, -0.2314, -0.1356, 0.9953, -0.0143, 0.8078, 0.6079, -0.3851, -0.0101, -0.0261, 0.9994] state[eef_state]: left_x=0.395 left_y=-0.0582 left_z=0.1659 left_yaw=0.004 left_pitch=-0.0765 left_roll=0.0325 left_gripper=0.9953 right_x=0.2955 right_y=0.0011 right_z=0.1769 right_yaw=0.0006 right_pitch=-0.0248 right_roll=-0.0009 right_gripper=0.9994 state[joint_eff]: [-0.1299, -5.4906, 9.0462, 1.6728, -0.188, -0.0513, 0.0024, -0.0752, -1.4564, 7.1043, 1.707, -0.0366, -0.0708, -0.0171] camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.32, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0}, "note": "Pitcher released and standing left of the cups. Lifting the left gripper straight up clear of the pitcher before parking the arm."})
tool
executing move_to over 10 steps (1.0s)
step 228
assistant
agent noteFirst pour complete; pitcher stands left of the cups. Parking the left arm at home and flying the right arm over the white bottle with the blue cap (right of centre) to inspect it with the right wrist camera.
move_to
left_x0.3000left_y0.0000left_z0.2500left_yaw0.0000left_pitch0.0000left_roll0.0000right_x0.4400right_y0.3400right_z0.3000right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.2565, 1.3205, 1.3727, -0.63, -0.2272, -0.1505, 0.9967, -0.0147, 0.8082, 0.6075, -0.3851, -0.0105, -0.0261, 0.9994] state[eef_state]: left_x=0.3971 left_y=-0.0593 left_z=0.3084 left_yaw=0.008 left_pitch=-0.0018 left_roll=-0.0023 left_gripper=0.9967 right_x=0.2954 right_y=0.0011 right_z=0.1766 right_yaw=0.0005 right_pitch=-0.0256 right_roll=-0.0007 right_gripper=0.9994 state[joint_eff]: [0.4034, -4.3692, 8.5675, 1.5604, -0.0122, 0.0415, 0.1343, -0.294, -1.3333, 7.0632, 1.7167, -0.0122, -0.0513, -0.0122] camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": 0.0, "left_z": 0.25, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "right_x": 0.44, "right_y": 0.34, "right_z": 0.3, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 1.0}, "note": "First pour complete; pitcher stands left of the cups. Parking the left arm at home and flying the right arm over the white bottle with the blue cap (right of centre) to inspect it with the right wrist camera."})
tool
executing move_to over 29 steps (2.9s)
step 257
assistant
agent noteRight wrist view shows the white bottle's cap at the bottom of the frame, ~2 cm right of the jaw column. Shifting slightly right and descending with open jaws to bracket the bottle neck under the cap.
move_to
right_x0.4400right_y0.3150right_z0.1900right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0372, 0.8776, 0.907, -0.5907, -0.0475, -0.0334, 0.9968, 0.8474, 2.1555, 2.3341, -0.915, 0.6632, 0.5053, 0.9994] state[eef_state]: left_x=0.3035 left_y=0.0007 left_z=0.2512 left_yaw=0.0136 left_pitch=-0.0013 left_roll=-0.0013 left_gripper=0.9968 right_x=0.4437 right_y=0.3437 right_z=0.2943 right_yaw=0.03 right_pitch=0.0024 right_roll=0.0123 right_gripper=0.9994 state[joint_eff]: [0.4581, -2.0581, 6.5436, 1.7118, 0.0171, 0.0708, 0.0024, 0.5128, -12.3145, 7.8427, 0.7643, 0.6032, 0.1685, -0.0757] camera 'top_cam' (step 257): [image omitted: streamed camera frame] camera 'left_cam' (step 257): [image omitted: streamed camera frame] camera 'right_cam' (step 257): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.315, "right_z": 0.19, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 1.0}, "note": "Right wrist view shows the white bottle's cap at the bottom of the frame, ~2 cm right of the jaw column. Shifting slightly right and descending with open jaws to bracket the bottle neck under the cap."})
tool
executing move_to over 7 steps (0.7s)
step 264
assistant
agent noteThe bottle top now appears at the lower right of the right wrist view, so the bottle is a few cm further right than the jaws. Lifting straight up before re-centring to avoid dragging it.
move_to
right_x0.4400right_y0.3170right_z0.2700right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.036, 0.8818, 0.9016, -0.5903, -0.0479, -0.0338, 0.9968, 0.8268, 2.0266, 1.6756, -0.4995, 0.6502, 0.4999, 0.9994] state[eef_state]: left_x=0.3038 left_y=0.0011 left_z=0.2477 left_yaw=0.0152 left_pitch=-0.0105 left_roll=-0.001 left_gripper=0.9968 right_x=0.4322 right_y=0.317 right_z=0.1629 right_yaw=0.0183 right_pitch=-0.0829 right_roll=-0.0686 right_gripper=0.9994 state[joint_eff]: [-0.1709, -1.9624, 7.2, 1.7118, -0.0415, -0.0171, -0.0122, -0.8547, -14.3658, 7.0906, 1.6532, 0.4615, 0.0317, -0.0757] camera 'top_cam' (step 264): [image omitted: streamed camera frame] camera 'left_cam' (step 264): [image omitted: streamed camera frame] camera 'right_cam' (step 264): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.317, "right_z": 0.27, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": 0.0}, "note": "The bottle top now appears at the lower right of the right wrist view, so the bottle is a few cm further right than the jaws. Lifting straight up before re-centring to avoid dragging it."})
tool
executing move_to over 7 steps (0.7s)
step 271
assistant
agent noteBottle top still sits under the right jaw at the lower-right of the wrist view, so the bottle centre is ~5 cm to the arm's right. Shifting the right arm right to centre the jaws over the cap before descending.
move_to
right_x0.4400right_y0.2750right_z0.2700right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0357, 0.8825, 0.9016, -0.59, -0.0479, -0.0345, 0.9968, 0.823, 2.027, 1.9656, -0.7071, 0.6468, 0.4942, 0.9993] state[eef_state]: left_x=0.3039 left_y=0.0012 left_z=0.2475 left_yaw=0.016 left_pitch=-0.0108 left_roll=-0.0016 left_gripper=0.9968 right_x=0.4401 right_y=0.3233 right_z=0.2473 right_yaw=0.0232 right_pitch=-0.0279 right_roll=-0.0124 right_gripper=0.9993 state[joint_eff]: [-0.0889, -1.6752, 6.8308, 1.7167, -0.0366, 0.0024, -0.0122, -0.4718, -12.3419, 9.1419, 1.3993, 0.4908, 0.0415, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 271): [image omitted: streamed camera frame] camera 'left_cam' (step 271): [image omitted: streamed camera frame] camera 'right_cam' (step 271): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.275, "right_z": 0.27, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": 0.0}, "note": "Bottle top still sits under the right jaw at the lower-right of the wrist view, so the bottle centre is ~5 cm to the arm's right. Shifting the right arm right to centre the jaws over the cap before descending."})
tool
executing move_to over 5 steps (0.5s)
step 276
assistant
agent noteThe right jaw is resting on the bottle's cap (z stuck at 0.23 with the tool tilted); the bottle is still ~5 cm to the arm's right. Lifting straight up first to get off the cap.
move_to
right_x0.4400right_y0.2820right_z0.3100right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.036, 0.8833, 0.9016, -0.5896, -0.0479, -0.0338, 0.9968, 0.7563, 1.9404, 1.8175, -0.68, 0.6128, 0.4541, 0.9993] state[eef_state]: left_x=0.3041 left_y=0.0011 left_z=0.2474 left_yaw=0.0152 left_pitch=-0.0112 left_roll=-0.001 left_gripper=0.9968 right_x=0.4419 right_y=0.2821 right_z=0.2335 right_yaw=0.0014 right_pitch=-0.07 right_roll=-0.0523 right_gripper=0.9993 state[joint_eff]: [-0.1436, -1.7162, 6.7761, 1.7949, -0.0855, -0.0073, -0.0073, -0.4444, -14.612, 7.0769, 1.7167, 0.3199, -0.0708, -0.0073] camera 'top_cam' (step 276): [image omitted: streamed camera frame] camera 'left_cam' (step 276): [image omitted: streamed camera frame] camera 'right_cam' (step 276): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.282, "right_z": 0.31, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": 0.0}, "note": "The right jaw is resting on the bottle's cap (z stuck at 0.23 with the tool tilted); the bottle is still ~5 cm to the arm's right. Lifting straight up first to get off the cap."})
tool
executing move_to over 5 steps (0.5s)
step 281
assistant
agent noteBottle cap shows at the lower right of the right wrist view, roughly 3 cm right of the jaw column. Shifting right 3 cm and descending with open jaws to bracket the neck under the cap.
move_to
right_x0.4400right_y0.2500right_z0.1900right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0357, 0.8833, 0.9016, -0.59, -0.0479, -0.0349, 0.9968, 0.7532, 1.9469, 2.0258, -0.8177, 0.6094, 0.4419, 0.9993] state[eef_state]: left_x=0.304 left_y=0.0012 left_z=0.2473 left_yaw=0.0162 left_pitch=-0.0116 left_roll=-0.0019 left_gripper=0.9968 right_x=0.4427 right_y=0.2814 right_z=0.2921 right_yaw=0.0095 right_pitch=-0.0249 right_roll=-0.0169 right_gripper=0.9993 state[joint_eff]: [-0.1846, -1.6615, 6.7897, 1.746, -0.0855, -0.0024, -0.0073, 0.6496, -10.359, 8.8821, 1.37, 0.3785, 0.0611, -0.0073] camera 'top_cam' (step 281): [image omitted: streamed camera frame] camera 'left_cam' (step 281): [image omitted: streamed camera frame] camera 'right_cam' (step 281): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.25, "right_z": 0.19, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 1.0}, "note": "Bottle cap shows at the lower right of the right wrist view, roughly 3 cm right of the jaw column. Shifting right 3 cm and descending with open jaws to bracket the neck under the cap."})
tool
executing move_to over 7 steps (0.7s)
step 288
assistant
agent noteJaws descended to z≈0.16 beside the bottle neck; the top view shows the gripper right at the bottle. Closing to test whether the neck is between the jaws.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0357, 0.8845, 0.9016, -0.5896, -0.0479, -0.0349, 0.9968, 0.7109, 1.8454, 1.4227, -0.379, 0.5755, 0.411, 0.9994] state[eef_state]: left_x=0.3042 left_y=0.0012 left_z=0.2471 left_yaw=0.0162 left_pitch=-0.0124 left_roll=-0.0019 left_gripper=0.9968 right_x=0.4329 right_y=0.2506 right_z=0.1636 right_yaw=0.0066 right_pitch=-0.0884 right_roll=-0.0661 right_gripper=0.9994 state[joint_eff]: [-0.0205, -1.7299, 7.1179, 1.7411, -0.0415, -0.0366, -0.0073, -0.9368, -13.0667, 7.3231, 1.6972, 0.2906, -0.0317, -0.0757] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 288): [image omitted: streamed camera frame] camera 'left_cam' (step 288): [image omitted: streamed camera frame] camera 'right_cam' (step 288): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Jaws descended to z\u22480.16 beside the bottle neck; the top view shows the gripper right at the bottle. Closing to test whether the neck is between the jaws."})
tool
executing move_to over 10 steps (1.0s)
step 298
assistant
agent noteEmpty close (0.01): the bottle has been nudged to the arm's right and now sits ~7 cm right of the jaws (visible right of the arm in the top view). Lifting and opening before shifting right over it.
move_to
right_x0.4300right_y0.2480right_z0.3000right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.036, 0.8845, 0.9016, -0.59, -0.0479, -0.0341, 0.9968, 0.7074, 1.8408, 1.3956, -0.3691, 0.564, 0.4038, 0.0117] state[eef_state]: left_x=0.3042 left_y=0.0011 left_z=0.247 left_yaw=0.0154 left_pitch=-0.0128 left_roll=-0.0012 left_gripper=0.9968 right_x=0.4299 right_y=0.2481 right_z=0.1557 right_yaw=0.0148 right_pitch=-0.1037 right_roll=-0.0737 right_gripper=0.0117 state[joint_eff]: [-0.0752, -1.6342, 7.1043, 1.7998, -0.0562, -0.0513, -0.0122, -0.0889, -9.5521, 8.841, 1.4042, 0.3101, 0.0806, 0.9451] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 298): [image omitted: streamed camera frame] camera 'left_cam' (step 298): [image omitted: streamed camera frame] camera 'right_cam' (step 298): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.248, "right_z": 0.3, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 1.0}, "note": "Empty close (0.01): the bottle has been nudged to the arm's right and now sits ~7 cm right of the jaws (visible right of the arm in the top view). Lifting and opening before shifting right over it."})
tool
executing move_to over 10 steps (1.0s)
step 308
assistant
agent noteFrom above, the bottle cap sits ~5 cm right of the jaw column at the bottom of the right wrist view. Shifting right 5 cm and descending with open jaws around the neck.
move_to
right_x0.4300right_y0.2000right_z0.1900right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0357, 0.8845, 0.9016, -0.5896, -0.0479, -0.0349, 0.9968, 0.7078, 1.8118, 1.776, -0.6895, 0.5686, 0.4019, 0.9949] state[eef_state]: left_x=0.3042 left_y=0.0012 left_z=0.2471 left_yaw=0.0162 left_pitch=-0.0124 left_roll=-0.0019 left_gripper=0.9968 right_x=0.4348 right_y=0.2516 right_z=0.2745 right_yaw=0.0166 right_pitch=-0.0332 right_roll=-0.0208 right_gripper=0.9949 state[joint_eff]: [-0.0752, -1.5248, 6.9675, 1.7558, -0.0611, -0.0073, -0.0122, 0.6222, -11.0974, 9.4427, 1.453, 0.3199, 0.0708, -0.149] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 308): [image omitted: streamed camera frame] camera 'left_cam' (step 308): [image omitted: streamed camera frame] camera 'right_cam' (step 308): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.2, "right_z": 0.19, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 1.0}, "note": "From above, the bottle cap sits ~5 cm right of the jaw column at the bottom of the right wrist view. Shifting right 5 cm and descending with open jaws around the neck."})
tool
executing move_to over 6 steps (0.6s)
step 314
assistant
agent noteThe bottle cap still appears right of the jaw column even after shifting 5 cm, which may be a near-field camera offset. Closing to test whether the neck is actually between the jaws.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0357, 0.889, 0.9016, -0.5896, -0.0475, -0.0345, 0.9968, 0.6201, 1.697, 1.2419, -0.3241, 0.5106, 0.3508, 0.9988] state[eef_state]: left_x=0.3049 left_y=0.0011 left_z=0.2458 left_yaw=0.0157 left_pitch=-0.017 left_roll=-0.0015 left_gripper=0.9968 right_x=0.4218 right_y=0.1995 right_z=0.1627 right_yaw=-0.0017 right_pitch=-0.1013 right_roll=-0.0638 right_gripper=0.9988 state[joint_eff]: [-0.0889, -2.0308, 6.8171, 1.746, -0.0317, -0.0611, -0.0122, -0.5402, -11.3846, 7.5692, 1.9512, 0.1538, -0.1294, -0.1441] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 314): [image omitted: streamed camera frame] camera 'left_cam' (step 314): [image omitted: streamed camera frame] camera 'right_cam' (step 314): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The bottle cap still appears right of the jaw column even after shifting 5 cm, which may be a near-field camera offset. Closing to test whether the neck is actually between the jaws."})
tool
executing move_to over 10 steps (1.0s)
step 324
assistant
agent noteEmpty again; the right jaw has been landing on the bottle's shoulder and nudging it right each descent, so the bottle centre is really ~6 cm right of the jaws (near-field scale is ~16 px/cm). Lifting clear and opening before shifting right.
move_to
right_x0.4200right_y0.1960right_z0.3000right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0357, 0.8894, 0.9016, -0.5903, -0.0479, -0.0345, 0.9968, 0.6159, 1.6943, 1.2163, -0.3214, 0.5034, 0.3435, 0.011] state[eef_state]: left_x=0.3048 left_y=0.0012 left_z=0.2455 left_yaw=0.016 left_pitch=-0.0181 left_roll=-0.0012 left_gripper=0.9968 right_x=0.4181 right_y=0.1959 right_z=0.1535 right_yaw=0.0023 right_pitch=-0.121 right_roll=-0.077 right_gripper=0.011 state[joint_eff]: [-0.0342, -1.4564, 6.7761, 1.7802, -0.0659, -0.0171, -0.0122, -0.0068, -8.212, 8.7316, 1.4921, 0.2711, 0.0806, 0.9597] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 324): [image omitted: streamed camera frame] camera 'left_cam' (step 324): [image omitted: streamed camera frame] camera 'right_cam' (step 324): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.196, "right_z": 0.3, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 1.0}, "note": "Empty again; the right jaw has been landing on the bottle's shoulder and nudging it right each descent, so the bottle centre is really ~6 cm right of the jaws (near-field scale is ~16 px/cm). Lifting clear and opening before shifting right."})
tool
executing move_to over 10 steps (1.0s)
step 334
assistant
agent noteBottle cap now appears ~80 px right of the jaw column from 12 cm above (~6.5 cm). Shifting right by that amount and descending with open jaws around the neck.
move_to
right_x0.4200right_y0.1350right_z0.1900right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.036, 0.8902, 0.9016, -0.59, -0.0479, -0.0341, 0.9968, 0.6155, 1.6474, 1.5738, -0.6228, 0.5003, 0.3355, 0.9948] state[eef_state]: left_x=0.305 left_y=0.0011 left_z=0.2453 left_yaw=0.0154 left_pitch=-0.0185 left_roll=-0.0009 left_gripper=0.9968 right_x=0.4238 right_y=0.2003 right_z=0.2728 right_yaw=0.0132 right_pitch=-0.0379 right_roll=-0.0228 right_gripper=0.9948 state[joint_eff]: [-0.1983, -1.7573, 6.9402, 1.7802, -0.0757, -0.0073, -0.0122, -0.1162, -10.1402, 9.5932, 1.3993, 0.2613, 0.0464, -0.0904] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 334): [image omitted: streamed camera frame] camera 'left_cam' (step 334): [image omitted: streamed camera frame] camera 'right_cam' (step 334): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.135, "right_z": 0.19, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 1.0}, "note": "Bottle cap now appears ~80 px right of the jaw column from 12 cm above (~6.5 cm). Shifting right by that amount and descending with open jaws around the neck."})
tool
executing move_to over 6 steps (0.6s)
step 340
assistant
agent noteThe gripper now sits directly over where the bottle stands in the top view, though the wrist camera still shows the cap to the right (likely a near-field camera offset). Closing to test the grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0357, 0.894, 0.9016, -0.5892, -0.0475, -0.0338, 0.9968, 0.4671, 1.5257, 1.0634, -0.2703, 0.3977, 0.2535, 0.9988] state[eef_state]: left_x=0.3056 left_y=0.0011 left_z=0.2444 left_yaw=0.0153 left_pitch=-0.0215 left_roll=-0.0006 left_gripper=0.9968 right_x=0.4108 right_y=0.1346 right_z=0.1645 right_yaw=-0.0111 right_pitch=-0.1052 right_roll=-0.05 right_gripper=0.9988 state[joint_eff]: [-0.0342, -2.0308, 6.8718, 1.7118, -0.0366, -0.0269, -0.0073, -0.4444, -8.9231, 7.747, 2.0488, 0.0562, -0.0464, -0.1441] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 340): [image omitted: streamed camera frame] camera 'left_cam' (step 340): [image omitted: streamed camera frame] camera 'right_cam' (step 340): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The gripper now sits directly over where the bottle stands in the top view, though the wrist camera still shows the cap to the right (likely a near-field camera offset). Closing to test the grasp."})
tool
executing move_to over 10 steps (1.0s)
step 350
assistant
agent noteEmpty close again; the bottle keeps getting nudged rightward by the descending right jaw and now sits near y≈0.08. Lifting clear and opening; next I will offset a full 7 cm right before descending.
move_to
right_x0.4100right_y0.1300right_z0.3000right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.036, 0.8948, 0.9016, -0.5896, -0.0479, -0.0345, 0.9968, 0.4587, 1.5261, 1.0405, -0.2726, 0.3832, 0.2466, 0.0112] state[eef_state]: left_x=0.3056 left_y=0.001 left_z=0.2441 left_yaw=0.0157 left_pitch=-0.0227 left_roll=-0.001 left_gripper=0.9968 right_x=0.4068 right_y=0.1312 right_z=0.1537 right_yaw=-0.0056 right_pitch=-0.1327 right_roll=-0.0582 right_gripper=0.0112 state[joint_eff]: [-0.1983, -1.7162, 6.8034, 1.7656, -0.0659, -0.0513, -0.0073, 0.5538, -7.0906, 8.5675, 1.6093, 0.3053, 0.1001, 0.9646] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 350): [image omitted: streamed camera frame] camera 'left_cam' (step 350): [image omitted: streamed camera frame] camera 'right_cam' (step 350): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.41, "right_y": 0.13, "right_z": 0.3, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 1.0}, "note": "Empty close again; the bottle keeps getting nudged rightward by the descending right jaw and now sits near y\u22480.08. Lifting clear and opening; next I will offset a full 7 cm right before descending."})
tool
executing move_to over 10 steps (1.0s)
step 360
assistant
agent noteThe bottle cap is in the lower-right corner of the right wrist view, roughly 8–9 cm right of the jaws. Shifting right by 8.5 cm and descending with open jaws around the neck.
move_to
right_x0.4000right_y0.0500right_z0.1900right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.036, 0.8948, 0.9016, -0.5903, -0.0479, -0.0345, 0.9968, 0.4561, 1.4761, 1.3991, -0.5762, 0.3801, 0.2245, 0.9951] state[eef_state]: left_x=0.3055 left_y=0.001 left_z=0.244 left_yaw=0.0157 left_pitch=-0.0234 left_roll=-0.001 left_gripper=0.9968 right_x=0.4133 right_y=0.1337 right_z=0.2736 right_yaw=0.0101 right_pitch=-0.0399 right_roll=-0.0279 right_gripper=0.9951 state[joint_eff]: [-0.0479, -1.7299, 6.8171, 1.7656, -0.0855, -0.0073, -0.0122, -0.5538, -8.5128, 9.4154, 1.5751, 0.0366, 0.0513, -0.1978] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 360): [image omitted: streamed camera frame] camera 'left_cam' (step 360): [image omitted: streamed camera frame] camera 'right_cam' (step 360): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.05, "right_z": 0.19, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 1.0}, "note": "The bottle cap is in the lower-right corner of the right wrist view, roughly 8\u20139 cm right of the jaws. Shifting right by 8.5 cm and descending with open jaws around the neck."})
tool
executing move_to over 7 steps (0.7s)
step 367
assistant
agent noteThe bottle's shoulder now fills the space between the two jaw wedges in the right wrist view. Closing to grasp the neck.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0357, 0.8959, 0.9016, -0.59, -0.0479, -0.0349, 0.9968, 0.2028, 1.3151, 0.902, -0.2291, 0.1928, 0.1055, 0.9988] state[eef_state]: left_x=0.3057 left_y=0.0011 left_z=0.2437 left_yaw=0.0162 left_pitch=-0.0242 left_roll=-0.0012 left_gripper=0.9968 right_x=0.3948 right_y=0.0503 right_z=0.1783 right_yaw=-0.0244 right_pitch=-0.0684 right_roll=-0.0149 right_gripper=0.9988 state[joint_eff]: [-0.0615, -1.7983, 6.9812, 1.7167, -0.0562, 0.0024, -0.0073, -0.1846, -6.3658, 7.2821, 1.9512, -0.0952, -0.1001, -0.1392] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 367): [image omitted: streamed camera frame] camera 'left_cam' (step 367): [image omitted: streamed camera frame] camera 'right_cam' (step 367): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The bottle's shoulder now fills the space between the two jaw wedges in the right wrist view. Closing to grasp the neck."})
tool
executing move_to over 10 steps (1.0s)
step 377
assistant
agent noteEmpty close again; the top view now shows the bottle slightly right of and behind the gripper, near the right fence. Lifting and opening, and moving 4 cm right and 2 cm back toward the base to get directly over its cap.
move_to
right_x0.3700right_y0.0100right_z0.3000right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0357, 0.8959, 0.9016, -0.59, -0.0479, -0.0345, 0.9968, 0.1997, 1.3148, 0.8761, -0.2276, 0.1757, 0.0971, 0.0111] state[eef_state]: left_x=0.3057 left_y=0.0011 left_z=0.2437 left_yaw=0.016 left_pitch=-0.0242 left_roll=-0.0009 left_gripper=0.9968 right_x=0.39 right_y=0.0511 right_z=0.167 right_yaw=-0.0089 right_pitch=-0.0942 right_roll=-0.0166 right_gripper=0.0111 state[joint_eff]: [-0.0752, -1.4291, 7.0222, 1.7509, -0.0757, -0.0611, -0.0073, 0.1573, -5.1761, 9.3333, 1.6679, 0.1783, 0.0855, 0.9255] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 377): [image omitted: streamed camera frame] camera 'left_cam' (step 377): [image omitted: streamed camera frame] camera 'right_cam' (step 377): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.01, "right_z": 0.3, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 1.0}, "note": "Empty close again; the top view now shows the bottle slightly right of and behind the gripper, near the right fence. Lifting and opening, and moving 4 cm right and 2 cm back toward the base to get directly over its cap."})
tool
executing move_to over 10 steps (1.0s)
step 387
assistant
agent noteThe bottle now shows at the bottom of the right wrist view about 5 cm right of the jaw column, close to the right fence. Shifting right 5 cm and descending with open jaws to bracket the neck.
move_to
right_x0.3700right_y-0.0400right_z0.1900right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.036, 0.8959, 0.9016, -0.59, -0.0479, -0.0349, 0.9968, 0.0402, 1.2037, 1.1946, -0.5804, 0.046, 0.0025, 0.9951] state[eef_state]: left_x=0.3057 left_y=0.001 left_z=0.2437 left_yaw=0.0159 left_pitch=-0.0242 left_roll=-0.0012 left_gripper=0.9968 right_x=0.3757 right_y=0.0106 right_z=0.2793 right_yaw=-0.0076 right_pitch=-0.0287 right_roll=-0.0082 right_gripper=0.9951 state[joint_eff]: [-0.212, -1.6752, 6.8308, 1.7656, -0.0513, -0.0317, -0.0122, -0.3897, -5.7231, 9.5795, 1.6581, -0.0952, 0.0708, -0.1685] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 387): [image omitted: streamed camera frame] camera 'left_cam' (step 387): [image omitted: streamed camera frame] camera 'right_cam' (step 387): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": -0.04, "right_z": 0.19, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 1.0}, "note": "The bottle now shows at the bottom of the right wrist view about 5 cm right of the jaw column, close to the right fence. Shifting right 5 cm and descending with open jaws to bracket the neck."})
tool
executing move_to over 6 steps (0.6s)
step 393
assistant
agent noteThe bottle's neck now fills the upper-centre of the right wrist view, meaning it is a few cm ahead of the fingertips and slightly right. Advancing ~6 cm forward and 2 cm right at neck height so the open jaws bracket the neck.
move_to
right_x0.4200right_y-0.0600right_z0.1800right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0357, 0.8959, 0.9016, -0.5903, -0.0479, -0.0345, 0.9968, -0.1787, 1.1675, 0.8101, -0.2928, -0.123, -0.0986, 0.9988] state[eef_state]: left_x=0.3057 left_y=0.0011 left_z=0.2436 left_yaw=0.016 left_pitch=-0.0246 left_roll=-0.0009 left_gripper=0.9968 right_x=0.3611 right_y=-0.0396 right_z=0.1769 right_yaw=-0.0292 right_pitch=-0.0843 right_roll=0.0104 right_gripper=0.9988 state[joint_eff]: [-0.0479, -1.4838, 7.0085, 1.8095, -0.0562, -0.0464, -0.0122, -0.2393, -4.6701, 7.3915, 2.0293, -0.0415, -0.0513, -0.1441] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 393): [image omitted: streamed camera frame] camera 'left_cam' (step 393): [image omitted: streamed camera frame] camera 'right_cam' (step 393): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": -0.06, "right_z": 0.18, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 1.0}, "note": "The bottle's neck now fills the upper-centre of the right wrist view, meaning it is a few cm ahead of the fingertips and slightly right. Advancing ~6 cm forward and 2 cm right at neck height so the open jaws bracket the neck."})
tool
executing move_to over 5 steps (0.5s)
step 398
assistant
agent noteThe bottle's shoulder now fills the right wrist view and the top view shows the gripper directly over the bottle. Closing to test whether the neck is between the jaws.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.036, 0.8978, 0.9016, -0.59, -0.0479, -0.0341, 0.9968, -0.2234, 1.3628, 0.8867, -0.1028, -0.1761, -0.1432, 0.9988] state[eef_state]: left_x=0.306 left_y=0.001 left_z=0.2432 left_yaw=0.0155 left_pitch=-0.0261 left_roll=-0.0005 left_gripper=0.9968 right_x=0.4125 right_y=-0.0583 right_z=0.178 right_yaw=-0.006 right_pitch=-0.0087 right_roll=-0.0092 right_gripper=0.9988 state[joint_eff]: [-0.0889, -1.7162, 6.8034, 1.7851, -0.0757, -0.0122, -0.0122, -0.6632, -4.8752, 8.4444, 1.3797, -0.188, -0.0317, -0.1441] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 398): [image omitted: streamed camera frame] camera 'left_cam' (step 398): [image omitted: streamed camera frame] camera 'right_cam' (step 398): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The bottle's shoulder now fills the right wrist view and the top view shows the gripper directly over the bottle. Closing to test whether the neck is between the jaws."})
tool
executing move_to over 10 steps (1.0s)
step 408
assistant
agent noteEmpty close; the wrist view now clearly shows the jug standing ahead of the jaws and slightly left, and the top view confirms it is ~8 cm forward of the gripper. Lifting and opening to come down on it from above.
move_to
right_x0.4200right_y-0.0450right_z0.3200right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.036, 0.8978, 0.9016, -0.59, -0.0479, -0.0345, 0.9968, -0.2249, 1.3903, 0.8967, -0.0959, -0.1925, -0.1497, 0.0116] state[eef_state]: left_x=0.306 left_y=0.001 left_z=0.2432 left_yaw=0.0157 left_pitch=-0.0261 left_roll=-0.0008 left_gripper=0.9968 right_x=0.4171 right_y=-0.0571 right_z=0.1733 right_yaw=0.0098 right_pitch=-0.0171 right_roll=-0.0035 right_gripper=0.0116 state[joint_eff]: [-0.0342, -1.7436, 6.8444, 1.7216, -0.0708, -0.0317, -0.0073, -0.4991, -5.7641, 8.0889, 1.7411, -0.1197, 0.0659, 0.9255] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 408): [image omitted: streamed camera frame] camera 'left_cam' (step 408): [image omitted: streamed camera frame] camera 'right_cam' (step 408): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": -0.045, "right_z": 0.32, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 1.0}, "note": "Empty close; the wrist view now clearly shows the jug standing ahead of the jaws and slightly left, and the top view confirms it is ~8 cm forward of the gripper. Lifting and opening to come down on it from above."})
tool
executing move_to over 10 steps (1.0s)
step 418
assistant
agent noteRight wrist view now shows the whole jug standing ~10 cm ahead of the fingertips with its mouth 2 cm left of the jaw column. Advancing 6 cm with a forward pitch to gain reach, staying above the cap.
move_to
right_x0.4800right_y-0.0250right_z0.2900right_yaw0.0000right_pitch0.3000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0357, 0.8978, 0.9016, -0.5907, -0.0479, -0.0345, 0.9968, -0.1825, 1.3918, 1.4242, -0.5877, -0.1616, -0.1272, 0.9947] state[eef_state]: left_x=0.3059 left_y=0.0011 left_z=0.243 left_yaw=0.016 left_pitch=-0.0268 left_roll=-0.0008 left_gripper=0.9968 right_x=0.4226 right_y=-0.0455 right_z=0.311 right_yaw=0.0141 right_pitch=0.0129 right_roll=-0.0081 right_gripper=0.9947 state[joint_eff]: [-0.1846, -1.7162, 6.8581, 1.7265, -0.0904, -0.0073, -0.0073, 0.1573, -4.8889, 9.1009, 1.58, 0.0659, 0.105, -0.0366] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 418): [image omitted: streamed camera frame] camera 'left_cam' (step 418): [image omitted: streamed camera frame] camera 'right_cam' (step 418): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.48, "right_y": -0.025, "right_z": 0.29, "right_yaw": 0.0, "right_pitch": 0.3, "right_roll": 0.0, "right_gripper": 1.0}, "note": "Right wrist view now shows the whole jug standing ~10 cm ahead of the fingertips with its mouth 2 cm left of the jaw column. Advancing 6 cm with a forward pitch to gain reach, staying above the cap."})
tool
executing move_to over 10 steps (1.0s)
step 428
assistant
agent noteThe jug mouth is now centred on the jaw column just ahead of the fingertips. Advancing 3 cm and descending 5 cm so the open jaws drop around the neck below the mouth.
move_to
right_x0.5000right_y-0.0200right_z0.2200right_yaw0.0000right_pitch0.3000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0357, 0.8978, 0.9016, -0.5896, -0.0479, -0.0345, 0.9968, -0.0975, 1.4559, 1.1439, -0.0441, -0.1047, -0.0616, 0.9988] state[eef_state]: left_x=0.306 left_y=0.0011 left_z=0.2432 left_yaw=0.016 left_pitch=-0.0257 left_roll=-0.0008 left_gripper=0.9968 right_x=0.4718 right_y=-0.024 right_z=0.2707 right_yaw=0.0188 right_pitch=0.2061 right_roll=-0.0047 right_gripper=0.9988 state[joint_eff]: [0.0889, -1.6752, 6.8034, 1.707, -0.0806, -0.0171, -0.0073, 0.335, -6.5299, 7.5556, 2.1612, 0.0366, 0.1832, -0.1441] camera 'top_cam' (step 428): [image omitted: streamed camera frame] camera 'left_cam' (step 428): [image omitted: streamed camera frame] camera 'right_cam' (step 428): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.5, "right_y": -0.02, "right_z": 0.22, "right_yaw": 0.0, "right_pitch": 0.3, "right_roll": 0.0, "right_gripper": 1.0}, "note": "The jug mouth is now centred on the jaw column just ahead of the fingertips. Advancing 3 cm and descending 5 cm so the open jaws drop around the neck below the mouth."})
tool
executing move_to over 4 steps (0.4s)
step 432
assistant
agent noteThe jug's upper body now fills the right wrist view between the two jaw wedges, and the top view shows the gripper over the jug. Closing to grasp the neck.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.036, 0.8978, 0.9016, -0.59, -0.0479, -0.0341, 0.9968, -0.0769, 1.5894, 0.9928, 0.2314, -0.0811, -0.0574, 0.9988] state[eef_state]: left_x=0.306 left_y=0.001 left_z=0.2432 left_yaw=0.0155 left_pitch=-0.0261 left_roll=-0.0005 left_gripper=0.9968 right_x=0.4913 right_y=-0.0199 right_z=0.2002 right_yaw=0.0165 right_pitch=0.1961 right_roll=-0.0082 right_gripper=0.9988 state[joint_eff]: [-0.0752, -1.5248, 7.0222, 1.7021, -0.0708, -0.0171, -0.0122, 0.4444, -8.9231, 7.665, 2.4005, 0.0415, 0.1685, -0.1441] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 432): [image omitted: streamed camera frame] camera 'left_cam' (step 432): [image omitted: streamed camera frame] camera 'right_cam' (step 432): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The jug's upper body now fills the right wrist view between the two jaw wedges, and the top view shows the gripper over the jug. Closing to grasp the neck."})
tool
executing move_to over 10 steps (1.0s)
step 442
assistant
agent noteGripper settled at 0.15 (~1.5 cm), likely holding the jug's handle. Lifting 7 cm to confirm the jug comes with it.
move_to
right_x0.4900right_y-0.0200right_z0.2700right_yaw0.0000right_pitch0.3000right_roll0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.036, 0.8978, 0.9016, -0.5896, -0.0479, -0.0338, 0.9968, -0.0711, 1.6192, 0.9684, 0.3279, -0.0788, -0.0444, 0.153] state[eef_state]: left_x=0.306 left_y=0.001 left_z=0.2432 left_yaw=0.0153 left_pitch=-0.0257 left_roll=-0.0002 left_gripper=0.9968 right_x=0.4977 right_y=-0.0179 right_z=0.1971 right_yaw=0.014 right_pitch=0.2383 right_roll=-0.0003 right_gripper=0.153 state[joint_eff]: [-0.0752, -1.7436, 6.7897, 1.7509, -0.0806, -0.0317, -0.0122, -0.0342, -9.6205, 7.8974, 2.127, 0.0659, 0.022, 1.0085] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 442): [image omitted: streamed camera frame] camera 'left_cam' (step 442): [image omitted: streamed camera frame] camera 'right_cam' (step 442): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.49, "right_y": -0.02, "right_z": 0.27, "right_yaw": 0.0, "right_pitch": 0.3, "right_roll": 0.0}, "note": "Gripper settled at 0.15 (~1.5 cm), likely holding the jug's handle. Lifting 7 cm to confirm the jug comes with it."})
tool
executing move_to over 5 steps (0.5s)
step 447
assistant
agent noteThe jug is lifted (wrist view unchanged through the lift, efforts up). Carrying it left toward the cups, pulling back slightly for reach, and I will locate the red cup in the wrist view from there.
move_to
right_x0.4500right_y0.2000right_z0.2700right_yaw0.0000right_pitch0.2000right_roll0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.036, 0.8978, 0.9016, -0.59, -0.0479, -0.0341, 0.9968, -0.0711, 1.5539, 1.0458, 0.1638, -0.0788, -0.0444, 0.1571] state[eef_state]: left_x=0.306 left_y=0.001 left_z=0.2432 left_yaw=0.0155 left_pitch=-0.0261 left_roll=-0.0005 left_gripper=0.9968 right_x=0.4907 right_y=-0.0174 right_z=0.2263 right_yaw=0.0136 right_pitch=0.217 right_roll=0.0015 right_gripper=0.1571 state[joint_eff]: [-0.1299, -1.7162, 7.0359, 1.746, -0.0708, -0.0366, -0.0122, -0.4855, -10.5504, 10.6462, 1.8974, 0.0317, 0.0464, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 447): [image omitted: streamed camera frame] camera 'left_cam' (step 447): [image omitted: streamed camera frame] camera 'right_cam' (step 447): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.2, "right_z": 0.27, "right_yaw": 0.0, "right_pitch": 0.2, "right_roll": 0.0}, "note": "The jug is lifted (wrist view unchanged through the lift, efforts up). Carrying it left toward the cups, pulling back slightly for reach, and I will locate the red cup in the wrist view from there."})
tool
executing move_to over 19 steps (1.9s)
step 466
assistant
agent noteThe jug is hanging by its handle right next to the blue cup, and the red cup is far to the left (~y 0.44). Pulling the jug back toward the base first so it can pass behind the blue cup without knocking it.
move_to
right_x0.3600right_y0.2000right_z0.2600right_yaw0.0000right_pitch0.2000right_roll0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0357, 0.8978, 0.9016, -0.59, -0.0479, -0.0345, 0.9968, 0.588, 1.6146, 1.269, -0.1322, 0.5068, 0.1894, 0.1571] state[eef_state]: left_x=0.306 left_y=0.0011 left_z=0.2432 left_yaw=0.016 left_pitch=-0.0261 left_roll=-0.0008 left_gripper=0.9968 right_x=0.4466 right_y=0.199 right_z=0.2461 right_yaw=0.0522 right_pitch=0.146 right_roll=-0.036 right_gripper=0.1571 state[joint_eff]: [-0.1573, -1.7299, 6.7897, 1.7705, -0.0464, -0.0024, -0.0073, 0.253, -8.0889, 10.6735, 1.7558, 0.4225, 0.1294, 0.9988] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 466): [image omitted: streamed camera frame] camera 'left_cam' (step 466): [image omitted: streamed camera frame] camera 'right_cam' (step 466): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.2, "right_z": 0.26, "right_yaw": 0.0, "right_pitch": 0.2, "right_roll": 0.0}, "note": "The jug is hanging by its handle right next to the blue cup, and the red cup is far to the left (~y 0.44). Pulling the jug back toward the base first so it can pass behind the blue cup without knocking it."})
tool
executing move_to over 7 steps (0.7s)
step 473
assistant
agent noteThe jug is now behind the cups; the handle grasp means the jug body sits ahead (+x) of the jaws. Moving left behind the blue cup and beginning a negative roll so the mouth will tip toward +y (the red cup side).
move_to
right_x0.3400right_y0.3000right_z0.2600right_yaw0.0000right_pitch0.2000right_roll-0.7000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.036, 0.9016, 0.9016, -0.59, -0.0479, -0.0338, 0.9968, 0.7692, 1.3998, 1.0698, -0.1925, 0.6647, 0.2886, 0.1598] state[eef_state]: left_x=0.3065 left_y=0.001 left_z=0.2421 left_yaw=0.0153 left_pitch=-0.0299 left_roll=0.0 left_gripper=0.9968 right_x=0.3662 right_y=0.2079 right_z=0.2454 right_yaw=0.0547 right_pitch=0.1562 right_roll=-0.0323 right_gripper=0.1598 state[joint_eff]: [-0.0752, -1.8667, 6.8308, 1.6972, -0.0855, -0.0513, -0.0073, 0.2803, -7.5966, 7.3094, 1.8388, 0.4322, 0.1001, 0.8523] camera 'top_cam' (step 473): [image omitted: streamed camera frame] camera 'left_cam' (step 473): [image omitted: streamed camera frame] camera 'right_cam' (step 473): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.34, "right_y": 0.3, "right_z": 0.26, "right_yaw": 0.0, "right_pitch": 0.2, "right_roll": -0.7}, "note": "The jug is now behind the cups; the handle grasp means the jug body sits ahead (+x) of the jaws. Moving left behind the blue cup and beginning a negative roll so the mouth will tip toward +y (the red cup side)."})
tool
executing move_to over 9 steps (0.9s)
step 482
assistant
agent noteJug is partly tipped in front of the blue cup with the red cup visible to its left. Rolling further to ~70° here, before translating so the mouth ends over the red cup.
move_to
right_x0.3600right_y0.3200right_z0.2700right_yaw0.0000right_pitch0.2000right_roll-1.2500
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.036, 0.9051, 0.9016, -0.5907, -0.0479, -0.0334, 0.9968, 1.0855, 1.9381, 1.689, -0.7681, 1.2098, 0.3279, 0.1605] state[eef_state]: left_x=0.3068 left_y=0.001 left_z=0.2409 left_yaw=0.0151 left_pitch=-0.0341 left_roll=0.0005 left_gripper=0.9968 right_x=0.3467 right_y=0.3108 right_z=0.2436 right_yaw=0.0396 right_pitch=0.1511 right_roll=-0.6152 right_gripper=0.1605 state[joint_eff]: [-0.1162, -2.0581, 6.9128, 1.7705, -0.0855, -0.0171, -0.0122, 0.4581, -11.0838, 7.9521, 0.6276, 0.862, 0.1343, 0.8571] camera 'top_cam' (step 482): [image omitted: streamed camera frame] camera 'left_cam' (step 482): [image omitted: streamed camera frame] camera 'right_cam' (step 482): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.32, "right_z": 0.27, "right_yaw": 0.0, "right_pitch": 0.2, "right_roll": -1.25}, "note": "Jug is partly tipped in front of the blue cup with the red cup visible to its left. Rolling further to ~70\u00b0 here, before translating so the mouth ends over the red cup."})
tool
executing move_to over 9 steps (0.9s)
step 491
assistant
agent noteThe jug is now nearly horizontal with its mouth pointing left toward the red cup but still short of it. Translating forward/left and completing the roll so the mouth sits over the red cup and pours.
move_to
right_x0.4300right_y0.3950right_z0.2500right_yaw0.0000right_pitch0.2000right_roll-1.4000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.036, 0.9089, 0.9016, -0.5903, -0.0479, -0.0334, 0.9968, 1.0691, 2.3798, 2.2948, -1.4849, 1.4845, 0.4343, 0.1632] state[eef_state]: left_x=0.3073 left_y=0.001 left_z=0.2399 left_yaw=0.0151 left_pitch=-0.0375 left_roll=0.0007 left_gripper=0.9968 right_x=0.3724 right_y=0.3205 right_z=0.2481 right_yaw=0.0042 right_pitch=0.1576 right_roll=-1.1365 right_gripper=0.1632 state[joint_eff]: [-0.0615, -2.0308, 6.9675, 1.7314, -0.0708, -0.0024, -0.0122, -0.8274, -12.3419, 8.5538, -0.1587, 1.0085, 0.0659, 0.7546] camera 'top_cam' (step 491): [image omitted: streamed camera frame] camera 'left_cam' (step 491): [image omitted: streamed camera frame] camera 'right_cam' (step 491): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.395, "right_z": 0.25, "right_yaw": 0.0, "right_pitch": 0.2, "right_roll": -1.4}, "note": "The jug is now nearly horizontal with its mouth pointing left toward the red cup but still short of it. Translating forward/left and completing the roll so the mouth sits over the red cup and pours."})
tool
executing move_to over 7 steps (0.7s)
step 498
assistant
agent noteThe arm stalled near its joint limits with the jug mouth just short of the red cup in the top view. Retrying with a lower height and more forward pitch to gain reach so the mouth moves over the cup.
move_to
right_x0.4400right_y0.4000right_z0.2000right_yaw0.0000right_pitch0.3000right_roll-1.4000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.036, 0.9108, 0.9016, -0.59, -0.0475, -0.0338, 0.9968, 1.0592, 2.4958, 2.4489, -1.5517, 1.4799, 0.4049, 0.1643] state[eef_state]: left_x=0.3076 left_y=0.0009 left_z=0.2395 left_yaw=0.015 left_pitch=-0.0391 left_roll=0.0003 left_gripper=0.9968 right_x=0.3832 right_y=0.3305 right_z=0.2334 right_yaw=0.0037 right_pitch=0.1253 right_roll=-1.1852 right_gripper=0.1643 state[joint_eff]: [-0.1436, -2.0034, 6.8034, 1.746, -0.0269, -0.0415, -0.0122, 0.1983, -14.1197, 7.8291, 0.0415, 0.862, 0.0904, 0.6618] camera 'top_cam' (step 498): [image omitted: streamed camera frame] camera 'left_cam' (step 498): [image omitted: streamed camera frame] camera 'right_cam' (step 498): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.4, "right_z": 0.2, "right_yaw": 0.0, "right_pitch": 0.3, "right_roll": -1.4}, "note": "The arm stalled near its joint limits with the jug mouth just short of the red cup in the top view. Retrying with a lower height and more forward pitch to gain reach so the mouth moves over the cup."})
tool
executing move_to over 6 steps (0.6s)
step 504
assistant
agent noteThe jug mouth is right at the near edge of the red cup but the arm is stalling at a joint limit in a folded configuration. Resetting pitch to zero and asking for a bit more forward reach so the mouth moves over the cup.
move_to
right_x0.4600right_y0.3800right_z0.2400right_yaw0.0000right_pitch0.0000right_roll-1.3000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.036, 0.91, 0.9016, -0.5911, -0.0475, -0.0341, 0.9968, 1.0447, 2.5965, 2.6152, -1.4918, 1.5093, 0.3222, 0.1647] state[eef_state]: left_x=0.3074 left_y=0.0009 left_z=0.2394 left_yaw=0.0152 left_pitch=-0.0394 left_roll=-0.0 left_gripper=0.9968 right_x=0.3991 right_y=0.3433 right_z=0.2331 right_yaw=-0.0089 right_pitch=0.1722 right_roll=-1.1622 right_gripper=0.1647 state[joint_eff]: [-0.0889, -1.5795, 6.8034, 1.7998, -0.0464, -0.0415, -0.0122, -2.0308, -10.865, 4.4923, -0.2711, 0.6716, -0.0513, 0.6911] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 504): [image omitted: streamed camera frame] camera 'left_cam' (step 504): [image omitted: streamed camera frame] camera 'right_cam' (step 504): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_y": 0.38, "right_z": 0.24, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": -1.3}, "note": "The jug mouth is right at the near edge of the red cup but the arm is stalling at a joint limit in a folded configuration. Resetting pitch to zero and asking for a bit more forward reach so the mouth moves over the cup."})
tool
executing move_to over 6 steps (0.6s)
step 510
assistant
agent noteThe jug's mouth now overlaps the red cup in the top view and the cup is visible under the mouth in the wrist view. Rolling the last bit to ~85° to complete the pour into the red cup.
move_to
right_x0.4500right_y0.3650right_z0.2350right_yaw0.0000right_pitch0.0000right_roll-1.5000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0357, 0.9127, 0.9016, -0.59, -0.0509, -0.0345, 0.9968, 0.984, 2.7766, 2.9887, -1.2736, 1.43, -0.1856, 0.1641] state[eef_state]: left_x=0.3079 left_y=0.0016 left_z=0.2389 left_yaw=0.0187 left_pitch=-0.0408 left_roll=0.0017 left_gripper=0.9968 right_x=0.4415 right_y=0.3546 right_z=0.2338 right_yaw=0.008 right_pitch=0.0732 right_roll=-1.2117 right_gripper=0.1641 state[joint_eff]: [-0.0479, -1.9624, 6.8855, 1.7216, -0.0073, -0.0024, -0.0122, -0.1026, -13.1761, 8.0342, 0.7595, 0.7106, -0.0952, 0.7155] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 510): [image omitted: streamed camera frame] camera 'left_cam' (step 510): [image omitted: streamed camera frame] camera 'right_cam' (step 510): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.365, "right_z": 0.235, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": -1.5}, "note": "The jug's mouth now overlaps the red cup in the top view and the cup is visible under the mouth in the wrist view. Rolling the last bit to ~85\u00b0 to complete the pour into the red cup."})
tool
executing move_to over 4 steps (0.4s)
step 514
assistant
agent noteThe jug has been tipped ~70° with its mouth over the red cup, completing the second pour. Rolling it back upright and moving it behind the cups to set it down.
move_to
right_x0.3800right_y0.2800right_z0.2200right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0357, 0.9127, 0.9016, -0.5903, -0.0513, -0.0345, 0.9968, 0.9802, 2.7941, 2.9894, -1.2892, 1.4082, -0.2066, 0.164] state[eef_state]: left_x=0.3078 left_y=0.0017 left_z=0.2388 left_yaw=0.019 left_pitch=-0.0412 left_roll=0.0019 left_gripper=0.9968 right_x=0.4437 right_y=0.3553 right_z=0.2208 right_yaw=0.019 right_pitch=0.0285 right_roll=-1.2455 right_gripper=0.164 state[joint_eff]: [-0.0615, -1.8667, 6.8171, 1.7509, -0.0464, -0.0122, -0.0073, 0.1026, -14.9949, 7.5419, 0.7106, 0.823, -0.0562, 0.7253] camera 'top_cam' (step 514): [image omitted: streamed camera frame] camera 'left_cam' (step 514): [image omitted: streamed camera frame] camera 'right_cam' (step 514): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.28, "right_z": 0.22, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": 0.0}, "note": "The jug has been tipped ~70\u00b0 with its mouth over the red cup, completing the second pour. Rolling it back upright and moving it behind the cups to set it down."})
tool
executing move_to over 16 steps (1.6s)
step 530
assistant
agent noteJug is upright again but still hanging near the red cup; the earlier translation only partly executed. Moving it right/back toward open table behind the cups before lowering it.
move_to
right_x0.4000right_y0.2700right_z0.2200right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0357, 0.9127, 0.9016, -0.5907, -0.0513, -0.0349, 0.9968, 0.9195, 2.6099, 3.1165, -1.4715, 0.7643, 0.5495, 0.1641] state[eef_state]: left_x=0.3078 left_y=0.0017 left_z=0.2388 left_yaw=0.0192 left_pitch=-0.0416 left_roll=0.0016 left_gripper=0.9968 right_x=0.4249 right_y=0.3617 right_z=0.2549 right_yaw=0.002 right_pitch=-0.0856 right_roll=-0.1747 right_gripper=0.1641 state[joint_eff]: [-0.0615, -1.894, 7.1863, 1.707, -0.0708, -0.0073, -0.0073, -0.6906, -17.6889, 6.8581, 1.4921, 0.4518, 0.1929, 0.4176] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 530): [image omitted: streamed camera frame] camera 'left_cam' (step 530): [image omitted: streamed camera frame] camera 'right_cam' (step 530): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.27, "right_z": 0.22, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": 0.0}, "note": "Jug is upright again but still hanging near the red cup; the earlier translation only partly executed. Moving it right/back toward open table behind the cups before lowering it."})
tool
executing move_to over 8 steps (0.8s)
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 80 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 31.34 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: pour the left container into the red cup, then pour the right container into the red cup",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0193, 0.7986, 0.617, -0.3779, -0.0216, -0.0154, 0.9996, -0.0154, 0.7967, 0.6109, -0.3744, -0.0113, -0.0254, 0.9994]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1851 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.001 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.6085, -1.6342, 9.4564, 1.7802, -0.0171, 0.0024, -0.0562, -0.9504, -1.4701, 9.7983, 1.7167, -0.1392, 0.0855, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6fb50bf0fcf9b74acb88d73a5c4d811da5969bcde9f60d7c45831b484597700",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5349a3674707568482db174e50715647e66bce5002b3b32f79f6d780b93a2cf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0f231c0168e0797c74c6980ac974390b0afcfd6e98688b910c2560f1f9c02257",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /messages · status 200 · 19.23 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0193, 0.7986, 0.617, -0.3779, -0.0216, -0.0154, 0.9996, -0.0154, 0.7967, 0.6109, -0.3744, -0.0113, -0.0254, 0.9994]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1851 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.001 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.6085, -1.6342, 9.4564, 1.7802, -0.0171, 0.0024, -0.0562, -0.9504, -1.4701, 9.7983, 1.7167, -0.1392, 0.0855, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6fb50bf0fcf9b74acb88d73a5c4d811da5969bcde9f60d7c45831b484597700",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5349a3674707568482db174e50715647e66bce5002b3b32f79f6d780b93a2cf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f231c0168e0797c74c6980ac974390b0afcfd6e98688b910c2560f1f9c02257",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M5oc8B4hDwHjQsGnr2e6dx",
      "input": {
        "note": "Top view shows two bottles side by side in front of the arms with a red cup and blue cup behind them; the left (Clorox-style) bottle appears about 20 cm right of the left arm. Moving the left arm up and over toward that bottle to inspect it from above with the wrist camera.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.34,
          "left_y": -0.19,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01M5oc8B4hDwHjQsGnr2e6dx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.7979, 1.3949, 1.404, -0.7647, -0.6334, -0.511, 0.9996, -0.0147, 0.7967, 0.6086, -0.3779, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.3378 left_y=-0.1915 left_z=0.2886 left_yaw=-0.014 left_pitch=-0.0262 left_roll=-0.0005 left_gripper=0.9996 right_x=0.2958 right_y=0.0011 right_z=0.1818 right_yaw=0.0005 right_pitch=-0.0057 right_roll=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -5.2171, 8.9641, 1.4383, -0.5201, 0.0122, -0.0562, -0.3077, -0.8821, 7.2684, 1.7509, -0.0464, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8cc3ded743f20bcfffac1559ea70d5b0d6ae52005129b306ce60557c12010bad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1e2e538afa105d4ce3b0cf3fc89ff846cc8e808c28fdcbcfbc3b6c9ef477c2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d65b9b73200d8130216620d4eb4ccc4848e38e6e76fe0adfc2860ae95c706f19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 15.41 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0193, 0.7986, 0.617, -0.3779, -0.0216, -0.0154, 0.9996, -0.0154, 0.7967, 0.6109, -0.3744, -0.0113, -0.0254, 0.9994]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1851 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.001 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.6085, -1.6342, 9.4564, 1.7802, -0.0171, 0.0024, -0.0562, -0.9504, -1.4701, 9.7983, 1.7167, -0.1392, 0.0855, -0.0708]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.7979, 1.3949, 1.404, -0.7647, -0.6334, -0.511, 0.9996, -0.0147, 0.7967, 0.6086, -0.3779, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.3378 left_y=-0.1915 left_z=0.2886 left_yaw=-0.014 left_pitch=-0.0262 left_roll=-0.0005 left_gripper=0.9996 right_x=0.2958 right_y=0.0011 right_z=0.1818 right_yaw=0.0005 right_pitch=-0.0057 right_roll=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -5.2171, 8.9641, 1.4383, -0.5201, 0.0122, -0.0562, -0.3077, -0.8821, 7.2684, 1.7509, -0.0464, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8cc3ded743f20bcfffac1559ea70d5b0d6ae52005129b306ce60557c12010bad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1e2e538afa105d4ce3b0cf3fc89ff846cc8e808c28fdcbcfbc3b6c9ef477c2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d65b9b73200d8130216620d4eb4ccc4848e38e6e76fe0adfc2860ae95c706f19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqRcKEAgRGAI4AUIIdGhpbmtpbmcSDM5Qb7H/7qZTCm6HtRoMcsPlbu51PI3sWbT9IjCb0Cs1MRur2Uv0/fv3NWvcSSQMmkNcCgA62rRmGUAjcRtQtD71XltQsnVS2iHmeC0qxhYDqpT40QIuxA+i8S4iWx+ugRA+u9ZmTb+G2kcbUQTfbXGywosMnMYU2ByXw6AXGYYdX0FpsMERZd7JQ9pogCGquSyLfcZCebXkSwxPJnwa4mfWfJbRBZjL/AcmCcE8waFxMoyPT0FJo358eQLRn9ESiKzZQuR3xXGvqn8vFEQPK9tXCDW/u9g0rfR4epaq9I9VltteOvxXEwP4MDQndVS4XKZ9cXuONyLCo1P5BsaaeFLF2yEORyKPeJXdZS2QFRc/cza77c+yfdJ7RMKy+jUL/APLm+06AKYDxFW3wkvtI+R5oP+1UroMTsnnkiOq4Ryp8Tn6yUnkYVkliw8L2fH1jdgp+sdVgMn75DIeTo6MZQtVkZPVOXkDX+KX/QAt8nbrwvuUiwYHtK66vKz+f+NJBySZ0qktXRsCuCCFAU9T4tJQwSXCr0oNzqtzWoxMhqxbcmJN5Dd3xrkx30A9ZqpiWa7LpjVf2Okt0ySawYC1OOJQr2jhmEqPINqs7xaG2w4UEXnbhcz13PxNjBB2jC0daWD1eX1swiGX5dweI3SVgTlLxl+ImeTvvZIyqbVfPw1cMSQ1iVPEOMOEhgy5aJ9ANIhm3Dqq9blIo2vWFm7T/utBh7YNrXiTZXu/M/2GpHzDvI0BLXdY/tQFtmnVKNXiPDz54R+0zUxc/hZXBn75A2Jm3+53gPti4x6n2NvzlOrgYY6m7pmvM/o9APQT12Kmkr6L0DHlrJ7sYrZbxV0ko2eZu+aMke4BYczrvYHMkf8rqnS14cHJ9DfHdthV0DsLd7S4vJQpgDa699vArN/uBmVW1aCtf7GQ2Q98LwTm/0A6zl1xQVv4MoZbQ75rLZaBariwdvnKId1wt74dp+JRrCCr+ZoDwQ2R/xyDbw+NjoexYGYwenl1olRI80K1TSlve3PvhEkoQjPaMeMP/Pq470tSdEm/iSWC3i2/+tNO6TMnxOyxzZlXFIOsyE+xltmmp5+iKTH7+sdGzPaeEyuMNZtE+glJlGkwXkqJMXniCjElNHxvbLXv3CpfP6TDi7FtxwsRhcRov4kS90+g9S1QQSi+wcvkuNh+2lxC4JVYps2z5/tGcFaVjmRJ4t6v42JKraL80G4aU42ad1LPic+KzAV6codXdyThqsJ5Ac0q/aFKVHXSkePBmme+T01o6BIPMnFmvngVddiv/5MNiD0O2k2xuxZ+QXQXsN9jpw1mRMcuvBNOQJeIg6LsJBQBrMp/lSUbuf8Z4kC9KUj3K3OPT+AxHvnD8eYZ8kgyPEChHBPuQ4PDgNaYX2a7lvD5dUDi7En3a1s4C05kdg2fge24tMdEifKTYeiDGnQlSkIBMadHPGVIVF0g4QfJZo84OLdXn4KpKXERzyb674P9orlcwOd8tbdZF2BTC+nCOR6s+K1bNT+oSoDrGsKgkBpsPJSZhlIR7JcFQSki67g/Ez3coIH+pmwplKA9CFVrOYTA6DTsr+hah8HR27tQicYDd7nIBOzt07fiZqhDU6YlFLxcksHUiLu2Wo6vouryNVKkaRhhg3A3oZhBW9fxWu4PJ7r+61JDPqxIbHRzqO1kDt0EHIUpYFMxEoMrIhP6js7zKLtP0DMFLuq3Sqc0R4T9F8/3qq/UVH5DkVKHzPRYWJFgTw+Nop95rNXtU6CnYJ7RK5I60tJsU8ETYUcyHeD4cthjm6sZJeFpDHpDzAdDa15rLm5HEDdP1UmWddiUSTJU4PqvhaWVa8HhxlF05fc4gWj6cNPwAqdF2XRf+/tkDT5/1tLBC1WbMF8QEIJ4G7sBnjwFq5faGa856RDO5d9LdVzmc7HKjNvGunSo3ZT1ivKCyablF/gqFu1OZD29VeojKAPyucFawtuoy3eQDRgKSjjDtcfKUoiQSqkz6vY1ttWnVMav8TlqdkMXHFLP3LbFaRGchsYr01AALPvSo5eF+a1iaMshBrtKDq2NgblfjhQM8zZmy4GaS/IDuccr8E//dmta+9wZAndd3/GvJGO5qCrSvcPSfqXQb7nNCFZdmD6TpUilEuU0r/S1ADIV0mRqphx+7xiVkLEsqzGjYrooB7ipTB/rAbShTQXs4DUL/jcEloGcXFM4BeOt/aZiaZrDkNQK9lUDyUNGZa638bxP44PW529JyfGkzLHV7W4BZWOXSE+ZBfKnx7CbKzZvvbphFTxUIB26QszcIfqAhs4CmRUKq45IZVyvKOscDRmy7GJFVDUU8ncMZAHc49PnqVG/Lvmw+6GG2d7+pxblAecjl0Hn6Pgf6wa9Zv0RZzHTh4jA+c4alKiB50X94t28DXcC+IYyzLWS8m2RUDW3pXmbO/0pPdDZwzJJZwBLFTp0Oz+fwVkiL4hyLbPLTJBB04D0awhNKE0UFHR8HYk669xeKXtP3mkC5az70Vcz/6FzhVug2CfMxGP297y8j43ktrKqZfGkt4gjryCjJq8sjU+EdHFXaEZv+CefPJo1s7+kfJF0MLEMqlyHnbsdBiF55DABoz3ibrX6pQ0lGKPml4V+2gPB+yMj92cQskTqtWYd8iBKl63n0SRAy3Ux3oazaSyudEMk7rS5yOCmW9hVlOmMRhYNfbYCA47Tus5tyU3iAD9BLVG5ASRbEY+7dXY7vIEjiobip9Gi5qgUFq0Ye5sjjYcj1c7hpZUIQImQ6ewJ+tpaO7PSQSXJUjqRYPFiucVZyDWJhht/gjDaXHIqSUp92jlT8HlhNxhxRPp6FIX+fOKpxVna2LriAStlRX2IAzM1pe+joPdKgguwVg/rpazWfl6+I7FP1lG8X3TR9ftS25IDQWfaHtnfS663hLDtqMBR1U6iCBfoXdzfO7KEmLb9K4u0L3vIYtKrUIudIu1VJywI/Lz/EG03EUJQrmFdAh4jKB0+5TmG8lf9jrK3wqh1ARXCA5KRgT3sWH4jPyG3RHkCgh6Qv4DlRLQMmBAAfaZn5fvNqIhRIwJyjO0ZUdFz2I6rBtOmLxbFlM57vKC4DBKhNtFrfuk+H7gjk9OaGBrgPN8GmhVH/2+5C2tvXgGKbyLaQAXht+MmDDOPGD849PIlBqAqa5yI8mELCwiJsnBhDTofmFbcy+Dma7qoMf7S0+56wtSLa7m2J0XNKQPUMiU6uJesNRy1b8tIfcNY+oO769Z7ejRya0mzDmVP4wnbONe54qX4PBbUq+bx8i3VMTxWjDxiLzVtDPrNN8h0D8C4Sq7HOwSTPvV3PA4SA1dgsJ3qvK/rf17T4DO9FpFTz3Xn0+DC6yoRE8U74TCCNaq0C6WhvTDaJx87VFY9EKCSG05tFefaX81dBw2riMpeDhPKQo9TlTdh/lmlYbmbPPSVt2dKNVt4mHgf4u6GNWMk3MPNfpMgwTK+rG40eX/3M/4Nf/vHmRVqTnke+kIWCGDucRWbSGsz1ldSvnW58XUGaSXNs666YV1kBcMatkoBKGJcxg01Cm/8Qonv/KxgHVJE4LIKrhzO3lVMTXza1cu13E6YfJglo7aKixk4GmjtFsdFq0/MHki1UyxEJUOQdjrRN4OQqfHy75H5G8aX9pJ+UlwEeQwR3hk/5emEbGKx1RZGJ2Hv4GJoKSUok+5hAPXqZICF9xN8iAy8xI1riGkSOOQWsPjEPCz56t1rIhx1V/kaOriDVU3dLoiy2nWFhApETppp7CPrifShIXLPSC6RirjsFncuYszCD4A+RhW5XXGPiYHmABvQnoHF4tiMJyx7ssR7jdZ2YdrlIL1O8gSUVUhVvRi7UPoqhgN6KYpDU4CVaqnQj7b68fT+30FNS1Nc22bLUEv8sdUEfGf7zvfk1foiqKXaE0Sh64sLrgIhTKZBfYx8ioK/XgXIPt28ur172ARyEFKtUCoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Uw4ZNXbaoe9BwdacDDrjnv",
      "input": {
        "note": "Wrist camera shows the Clorox-style bottle's cap left of the jaw column by ~75 px, with the red cup straight ahead. Shifting the left arm ~7 cm left and slightly down to center the bottle neck under the jaws.",
        "targets": {
          "left_x": 0.34,
          "left_y": -0.12,
          "left_z": 0.27
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Uw4ZNXbaoe9BwdacDDrjnv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5747, 1.224, 1.1801, -0.6582, -0.4847, -0.3656, 0.9996, -0.0147, 0.7967, 0.6086, -0.3782, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.341 left_y=-0.1185 left_z=0.2634 left_yaw=0.0167 left_pitch=-0.0491 left_roll=0.0093 left_gripper=0.9996 right_x=0.2957 right_y=0.0011 right_z=0.1817 right_yaw=0.0005 right_pitch=-0.0061 right_roll=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.1162, -5.7094, 6.4479, 1.8681, 0.0317, 0.0952, -0.0122, -0.3214, -1.2513, 7.1453, 1.7167, -0.0269, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e296078bbd5dc13a6fe9a9667d823dcb8938ca0921f55e8e90103771dda1b77e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c0b5f426807666280ae3b72be1668f32e2019b10f11d1cc697736b6cd4887f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9bb9d627c28969282e79cef8b65d89e2db730c78a7a527a8486d6333760d50eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 12.74 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0193, 0.7986, 0.617, -0.3779, -0.0216, -0.0154, 0.9996, -0.0154, 0.7967, 0.6109, -0.3744, -0.0113, -0.0254, 0.9994]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1851 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.001 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.6085, -1.6342, 9.4564, 1.7802, -0.0171, 0.0024, -0.0562, -0.9504, -1.4701, 9.7983, 1.7167, -0.1392, 0.0855, -0.0708]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.7979, 1.3949, 1.404, -0.7647, -0.6334, -0.511, 0.9996, -0.0147, 0.7967, 0.6086, -0.3779, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.3378 left_y=-0.1915 left_z=0.2886 left_yaw=-0.014 left_pitch=-0.0262 left_roll=-0.0005 left_gripper=0.9996 right_x=0.2958 right_y=0.0011 right_z=0.1818 right_yaw=0.0005 right_pitch=-0.0057 right_roll=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -5.2171, 8.9641, 1.4383, -0.5201, 0.0122, -0.0562, -0.3077, -0.8821, 7.2684, 1.7509, -0.0464, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5747, 1.224, 1.1801, -0.6582, -0.4847, -0.3656, 0.9996, -0.0147, 0.7967, 0.6086, -0.3782, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.341 left_y=-0.1185 left_z=0.2634 left_yaw=0.0167 left_pitch=-0.0491 left_roll=0.0093 left_gripper=0.9996 right_x=0.2957 right_y=0.0011 right_z=0.1817 right_yaw=0.0005 right_pitch=-0.0061 right_roll=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.1162, -5.7094, 6.4479, 1.8681, 0.0317, 0.0952, -0.0122, -0.3214, -1.2513, 7.1453, 1.7167, -0.0269, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e296078bbd5dc13a6fe9a9667d823dcb8938ca0921f55e8e90103771dda1b77e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c0b5f426807666280ae3b72be1668f32e2019b10f11d1cc697736b6cd4887f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bb9d627c28969282e79cef8b65d89e2db730c78a7a527a8486d6333760d50eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MWPo8QsxYWWe82h8iuCpJo",
      "input": {
        "note": "The bottle cap now sits just left of the jaw column and forward of the fingertips in the wrist view. Nudging the left arm 2 cm right/forward and lowering to near cap height to line up the neck between the open jaws.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.1,
          "left_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01MWPo8QsxYWWe82h8iuCpJo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4664, 1.2427, 1.0828, -0.5503, -0.4095, -0.305, 0.9996, -0.0147, 0.7986, 0.6086, -0.3782, -0.0109, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.357 left_y=-0.0969 left_z=0.231 left_yaw=0.0331 left_pitch=-0.082 left_roll=0.021 left_gripper=0.9996 right_x=0.2959 right_y=0.0012 right_z=0.1812 right_yaw=0.0008 right_pitch=-0.008 right_roll=-0.0007 right_gripper=0.9994\nstate[joint_eff]: [-0.1162, -5.2581, 7.2821, 1.8193, -0.0952, 0.1343, -0.0122, -0.335, -1.2513, 7.0496, 1.7216, -0.0269, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d2f94ce30f825354c13ceffcd827cd2d02aa01d1ee6b25fd61c042a8f22e4bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f171129d357fb256cc05cc9a27542bef08cedb57966ad5286d9103682d522559",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0fc53d585d8753d4b464369881c3b9d421229da38e471bd9684228fc106907fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 16.22 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.7979, 1.3949, 1.404, -0.7647, -0.6334, -0.511, 0.9996, -0.0147, 0.7967, 0.6086, -0.3779, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.3378 left_y=-0.1915 left_z=0.2886 left_yaw=-0.014 left_pitch=-0.0262 left_roll=-0.0005 left_gripper=0.9996 right_x=0.2958 right_y=0.0011 right_z=0.1818 right_yaw=0.0005 right_pitch=-0.0057 right_roll=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -5.2171, 8.9641, 1.4383, -0.5201, 0.0122, -0.0562, -0.3077, -0.8821, 7.2684, 1.7509, -0.0464, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5747, 1.224, 1.1801, -0.6582, -0.4847, -0.3656, 0.9996, -0.0147, 0.7967, 0.6086, -0.3782, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.341 left_y=-0.1185 left_z=0.2634 left_yaw=0.0167 left_pitch=-0.0491 left_roll=0.0093 left_gripper=0.9996 right_x=0.2957 right_y=0.0011 right_z=0.1817 right_yaw=0.0005 right_pitch=-0.0061 right_roll=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.1162, -5.7094, 6.4479, 1.8681, 0.0317, 0.0952, -0.0122, -0.3214, -1.2513, 7.1453, 1.7167, -0.0269, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4664, 1.2427, 1.0828, -0.5503, -0.4095, -0.305, 0.9996, -0.0147, 0.7986, 0.6086, -0.3782, -0.0109, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.357 left_y=-0.0969 left_z=0.231 left_yaw=0.0331 left_pitch=-0.082 left_roll=0.021 left_gripper=0.9996 right_x=0.2959 right_y=0.0012 right_z=0.1812 right_yaw=0.0008 right_pitch=-0.008 right_roll=-0.0007 right_gripper=0.9994\nstate[joint_eff]: [-0.1162, -5.2581, 7.2821, 1.8193, -0.0952, 0.1343, -0.0122, -0.335, -1.2513, 7.0496, 1.7216, -0.0269, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d2f94ce30f825354c13ceffcd827cd2d02aa01d1ee6b25fd61c042a8f22e4bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f171129d357fb256cc05cc9a27542bef08cedb57966ad5286d9103682d522559",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fc53d585d8753d4b464369881c3b9d421229da38e471bd9684228fc106907fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AfJd4WSTuPvy7b5V19Cker",
      "input": {
        "note": "The bottle's open mouth is centred on the jaw column but still ahead of the fingertips in the wrist view. Advancing the left arm 4 cm forward so the neck passes between the open jaws.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.1,
          "left_z": 0.23
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01AfJd4WSTuPvy7b5V19Cker",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4084, 1.3991, 1.1572, -0.5068, -0.3721, -0.2836, 0.9996, -0.0147, 0.7986, 0.6086, -0.3782, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.3932 left_y=-0.0963 left_z=0.2121 left_yaw=0.0514 left_pitch=-0.1281 left_roll=0.0336 left_gripper=0.9996 right_x=0.2959 right_y=0.0011 right_z=0.1812 right_yaw=0.0005 right_pitch=-0.008 right_roll=-0.0009 right_gripper=0.9994\nstate[joint_eff]: [0.0068, -6.2701, 9.4017, 1.7363, -0.0757, 0.1441, -0.0171, -0.335, -1.2786, 7.0632, 1.7558, -0.0171, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e55a0113ea5f062437c6b9e802d042fef0c6c493751ffc4b76ed1691ed8d6ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5892da6c9c61552f9c19e3d12127ac640d1855e7fa1fe2c9033a2b9df975a9a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7babb31cab7004324e86763c141e87df3c1f4f12df3b504d8a4923bb676a4d60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 8.362 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5747, 1.224, 1.1801, -0.6582, -0.4847, -0.3656, 0.9996, -0.0147, 0.7967, 0.6086, -0.3782, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.341 left_y=-0.1185 left_z=0.2634 left_yaw=0.0167 left_pitch=-0.0491 left_roll=0.0093 left_gripper=0.9996 right_x=0.2957 right_y=0.0011 right_z=0.1817 right_yaw=0.0005 right_pitch=-0.0061 right_roll=-0.001 right_gripper=0.9994\nstate[joint_eff]: [-0.1162, -5.7094, 6.4479, 1.8681, 0.0317, 0.0952, -0.0122, -0.3214, -1.2513, 7.1453, 1.7167, -0.0269, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4664, 1.2427, 1.0828, -0.5503, -0.4095, -0.305, 0.9996, -0.0147, 0.7986, 0.6086, -0.3782, -0.0109, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.357 left_y=-0.0969 left_z=0.231 left_yaw=0.0331 left_pitch=-0.082 left_roll=0.021 left_gripper=0.9996 right_x=0.2959 right_y=0.0012 right_z=0.1812 right_yaw=0.0008 right_pitch=-0.008 right_roll=-0.0007 right_gripper=0.9994\nstate[joint_eff]: [-0.1162, -5.2581, 7.2821, 1.8193, -0.0952, 0.1343, -0.0122, -0.335, -1.2513, 7.0496, 1.7216, -0.0269, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4084, 1.3991, 1.1572, -0.5068, -0.3721, -0.2836, 0.9996, -0.0147, 0.7986, 0.6086, -0.3782, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.3932 left_y=-0.0963 left_z=0.2121 left_yaw=0.0514 left_pitch=-0.1281 left_roll=0.0336 left_gripper=0.9996 right_x=0.2959 right_y=0.0011 right_z=0.1812 right_yaw=0.0005 right_pitch=-0.008 right_roll=-0.0009 right_gripper=0.9994\nstate[joint_eff]: [0.0068, -6.2701, 9.4017, 1.7363, -0.0757, 0.1441, -0.0171, -0.335, -1.2786, 7.0632, 1.7558, -0.0171, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e55a0113ea5f062437c6b9e802d042fef0c6c493751ffc4b76ed1691ed8d6ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5892da6c9c61552f9c19e3d12127ac640d1855e7fa1fe2c9033a2b9df975a9a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7babb31cab7004324e86763c141e87df3c1f4f12df3b504d8a4923bb676a4d60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GGUgs1UkECfvE4BDktiJr1",
      "input": {
        "note": "The bottle mouth moved down about 30 px after the 4 cm advance and is still ahead of the jaws. Advancing another ~5 cm so the neck sits between the fingertips.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.095,
          "left_z": 0.21
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01GGUgs1UkECfvE4BDktiJr1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4084, 1.3991, 1.1572, -0.5068, -0.3653, -0.2836, 0.9996, -0.0147, 0.7986, 0.6086, -0.3782, -0.0101, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.3931 left_y=-0.0974 left_z=0.2118 left_yaw=0.0458 left_pitch=-0.1302 left_roll=0.0294 left_gripper=0.9996 right_x=0.2959 right_y=0.001 right_z=0.1812 right_yaw=0.0002 right_pitch=-0.008 right_roll=-0.0011 right_gripper=0.9994\nstate[joint_eff]: [0.0068, -6.2291, 9.388, 1.6972, -0.1685, 0.1538, -0.0122, -0.2393, -1.2923, 7.0496, 1.707, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e23b1a3983d947d9db70217a2352dd5b47a72f65d2cf8cffad275a27cfc427f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87a40c8adc139e782cb7682090e96928ae1149c465d56c4c33d8d9a7d2701b6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a2331d9682193e3eabc606ba5a300b5eb615a056337806eb83f32344e15599a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 7.199 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4664, 1.2427, 1.0828, -0.5503, -0.4095, -0.305, 0.9996, -0.0147, 0.7986, 0.6086, -0.3782, -0.0109, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.357 left_y=-0.0969 left_z=0.231 left_yaw=0.0331 left_pitch=-0.082 left_roll=0.021 left_gripper=0.9996 right_x=0.2959 right_y=0.0012 right_z=0.1812 right_yaw=0.0008 right_pitch=-0.008 right_roll=-0.0007 right_gripper=0.9994\nstate[joint_eff]: [-0.1162, -5.2581, 7.2821, 1.8193, -0.0952, 0.1343, -0.0122, -0.335, -1.2513, 7.0496, 1.7216, -0.0269, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4084, 1.3991, 1.1572, -0.5068, -0.3721, -0.2836, 0.9996, -0.0147, 0.7986, 0.6086, -0.3782, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.3932 left_y=-0.0963 left_z=0.2121 left_yaw=0.0514 left_pitch=-0.1281 left_roll=0.0336 left_gripper=0.9996 right_x=0.2959 right_y=0.0011 right_z=0.1812 right_yaw=0.0005 right_pitch=-0.008 right_roll=-0.0009 right_gripper=0.9994\nstate[joint_eff]: [0.0068, -6.2701, 9.4017, 1.7363, -0.0757, 0.1441, -0.0171, -0.335, -1.2786, 7.0632, 1.7558, -0.0171, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4084, 1.3991, 1.1572, -0.5068, -0.3653, -0.2836, 0.9996, -0.0147, 0.7986, 0.6086, -0.3782, -0.0101, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.3931 left_y=-0.0974 left_z=0.2118 left_yaw=0.0458 left_pitch=-0.1302 left_roll=0.0294 left_gripper=0.9996 right_x=0.2959 right_y=0.001 right_z=0.1812 right_yaw=0.0002 right_pitch=-0.008 right_roll=-0.0011 right_gripper=0.9994\nstate[joint_eff]: [0.0068, -6.2291, 9.388, 1.6972, -0.1685, 0.1538, -0.0122, -0.2393, -1.2923, 7.0496, 1.707, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e23b1a3983d947d9db70217a2352dd5b47a72f65d2cf8cffad275a27cfc427f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87a40c8adc139e782cb7682090e96928ae1149c465d56c4c33d8d9a7d2701b6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2331d9682193e3eabc606ba5a300b5eb615a056337806eb83f32344e15599a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSyQkKEAgRGAI4AUIIdGhpbmtpbmcSDAqy5VeMjK5TUoDvvxoMd8m3+JQnPe5w50I8IjDAM/hpTBFlwfMt3hIRBjPXBV+LdoplBM1/1VtNM3anhIhSm6BV/s09bASx7BYTm/8q5ggBfxn1uE51pSkbC/euUFgFgu/KHoekqHlf8PxsqEab9lDSfVkJBsLTSrieMae6n5Lavg/6hukw57cgrOHtWzWBJ70HzHGdtuuL/2uvCIeIuW8wQNEdFPkOSK+2MA8EpiZcHiWtS3IIv/nbCwduE9t/TXqSZSUd/g4CQ+b7hzAU1SSkcLWBsUny12/jb4UIlaX71mK+cud9HhCrX/R/Tl/fRaH/dgK0fL5R/R+/usVzKKi8Lrn11jN15CEsPd6IxsRS36/4xEf9O+UbTx4/l+RqYNTLoqp/gaf8jovpvoHdRzcsRJlK5nCm+zvkcH8baogt6yMCWGLBJabQmzMEp9uHvmYoZwvA34oJuCIwINWgd4xrSZdrgjI7YXh6IFGWpC/cl6D+yHiLSmdj4xH0WWR760WVTGq1jNLjyuZXq64imGwFFmDz6FUKgwcYDnbAX4A+nHuPextF7JkGeAWcHgVVQcLiNqmT5TfTLE5xS1W7x4bHESaX25P/BkNECZsaGrwp0AJ8aWC1X499wl5qXX/x9BoAINBcNAC+asMVUhOFiICyLP/Ge0dTs+fJB5ka93h/gzVjs87SQJnMkCvlZjagLEViqx9kO2tMmQzJvARwcPbvTg7wmFa+irdqwm9xF2UO5nKuukynKI960dpoWGgz7WBM1K8PzkBx/0b/8HcHRsWa4xqm7cTYWRJz0nOuhqDi1qsnBc3rTmEuGbrxF3yn2Z0vU7ueFf47vL8KEfn1ysRa1CfjDU/gQVX++visOUcxcbJ0OEGGKI0VsaP09w+g+H8hUPvHIR4F7ms5+wIAR35nxsmiVL9fl0QgSOqRa95tOfk8beVoThRnUz74mP7oWT+HPxGZG4qxgNfZM24IAcEC8WqxIQz3BDv6sE8CLJfom5wf72gQsJFF5xEKCHl0ChqVFl994dw0sVPVpjWSS4NJMmYN3sTIB+6zZirhkyMyc7i8Umyhm0qfg9zU9uC2Q2Y8JTilqz05kfrSs3TWMwdFihOU1FgrYqgsEzcBRWcYejTbf6CbNTePthCwiC02WTEY/6275DyTpYKqBbe2V/68SUkqX1OqgG2hb/04CJBtOEYnZpOmvvzNdWtawWPS5YcI6Hq+uo5LHGovT0EpOHsY1MwVB1s3mRRiLI+r0BBTTkf+aI8Wshk9ZxuCmYsMJr6rd1ok8hplJfaaUFYkVFQn9sVmg8J1ffEMEWRtcPavmWs/ubHnzPOK1eGCR4wzCVKgWzvegqZ5GiA6qHeXXtdK9dM95mV+OS32je1x40CM4twfpjrRPeD2TeJAvUZaTt9sL3X9ETzJaYjjqMsrf3ZPHg6oCEfxNkib8YaVy7a9+AoOvb5CsBmVoFkFbRwpG/tFT6LhVrAfi8UBTi6zdeC4MCxlw7Y7L2VdJLaNK7R7b6KzxXsfv/vJPyNFMK8XXxT46FbnXHbVulicGJ0iLajTAlD8GzCRjmYJqKbH8WHieYhFJRl9RvalQGEmjSTvmf9tJn2ZGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RVAaTNRNBAzgqAuAiwzg8s",
      "input": {
        "note": "The last forward move did not execute (readback unchanged at x=0.39), so the IK likely stalled. Retrying with a slightly higher z and a smaller forward step to unstick it.",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.095,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01RVAaTNRNBAzgqAuAiwzg8s",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4084, 1.3991, 1.1572, -0.5068, -0.3653, -0.2836, 0.9996, -0.0147, 0.7986, 0.6086, -0.3782, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.3931 left_y=-0.0974 left_z=0.2118 left_yaw=0.0458 left_pitch=-0.1302 left_roll=0.0294 left_gripper=0.9996 right_x=0.2959 right_y=0.0011 right_z=0.1812 right_yaw=0.0005 right_pitch=-0.008 right_roll=-0.0009 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -5.8872, 9.4974, 1.6972, -0.1685, 0.1929, -0.0122, -0.1026, -1.2923, 7.0906, 1.7118, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98c3fcf9a127aa26200327ef04456711433b64fe1ef952761fd750bdb173440b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8eeac36e904c7d88bdaa2de87bdf53036983c316c82b69dbda44595f27ba918d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b31656bd6a3648ad146c8d4412cdcd859812cd0ed575abb76e530a18354ac03e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 8.613 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4084, 1.3991, 1.1572, -0.5068, -0.3721, -0.2836, 0.9996, -0.0147, 0.7986, 0.6086, -0.3782, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.3932 left_y=-0.0963 left_z=0.2121 left_yaw=0.0514 left_pitch=-0.1281 left_roll=0.0336 left_gripper=0.9996 right_x=0.2959 right_y=0.0011 right_z=0.1812 right_yaw=0.0005 right_pitch=-0.008 right_roll=-0.0009 right_gripper=0.9994\nstate[joint_eff]: [0.0068, -6.2701, 9.4017, 1.7363, -0.0757, 0.1441, -0.0171, -0.335, -1.2786, 7.0632, 1.7558, -0.0171, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4084, 1.3991, 1.1572, -0.5068, -0.3653, -0.2836, 0.9996, -0.0147, 0.7986, 0.6086, -0.3782, -0.0101, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.3931 left_y=-0.0974 left_z=0.2118 left_yaw=0.0458 left_pitch=-0.1302 left_roll=0.0294 left_gripper=0.9996 right_x=0.2959 right_y=0.001 right_z=0.1812 right_yaw=0.0002 right_pitch=-0.008 right_roll=-0.0011 right_gripper=0.9994\nstate[joint_eff]: [0.0068, -6.2291, 9.388, 1.6972, -0.1685, 0.1538, -0.0122, -0.2393, -1.2923, 7.0496, 1.707, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4084, 1.3991, 1.1572, -0.5068, -0.3653, -0.2836, 0.9996, -0.0147, 0.7986, 0.6086, -0.3782, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.3931 left_y=-0.0974 left_z=0.2118 left_yaw=0.0458 left_pitch=-0.1302 left_roll=0.0294 left_gripper=0.9996 right_x=0.2959 right_y=0.0011 right_z=0.1812 right_yaw=0.0005 right_pitch=-0.008 right_roll=-0.0009 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -5.8872, 9.4974, 1.6972, -0.1685, 0.1929, -0.0122, -0.1026, -1.2923, 7.0906, 1.7118, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98c3fcf9a127aa26200327ef04456711433b64fe1ef952761fd750bdb173440b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8eeac36e904c7d88bdaa2de87bdf53036983c316c82b69dbda44595f27ba918d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b31656bd6a3648ad146c8d4412cdcd859812cd0ed575abb76e530a18354ac03e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2wgKEAgRGAI4AUIIdGhpbmtpbmcSDM62vesr9z3EcPACthoMaTqTVIDaljjzHGhJIjDW0DrBxszUWo9ZEM1XufpH9vYjdK65j/HIyKQJ3aIqcAKpPxu++qMq1ihxbypzwXoq+AdUgbcJCw6T9XPSs8oMFPVTUFPbna98LnZ9tjuEmw+AiJCLHeS2Yh9Tlj85rgDqHIEOEZbm5l/FYJrOj9QpAfWGHaT/slyo08fVd9aC/b1ZiHe1Osk7nFtlE9fIsm0iF4rFKjqiIXzOFSJ9pzAcZ5wOUA9uuoxGD0qIluV+Wz31k0x7qMW+InKh22mRVhm7flkIxNJ0QeyPJkoCoOuYZ80FBWeOQxFKV7BxvM/SoEd6bqeTHU559Ov5HpJcPSqkaLZqPYO5RaRe/eyqvCP4o0ytpTD3F+vNo5FvhinHKtJN0RERGPq9bKf3uh3qIW7mDyxo0UdQACriIcTqjMAv6u0yKxwqjDsKmXT5zyFIoduLP+pxK2qhgV5CAU/1VtbxDUAQDcMBRvo22xdUI3qaSHTcrePG8NT7rzObcZI8Q4jLSoxqVmeKqVm7Ra69obUSt4nWdjm8DUWAApu+vYt6usdXiaERpPE5Go83eoxschDlKMM3wAG+iqFQ/iyukstPKpwPBFUT3AHROCbKYhfFjHnyqV7A8aHpaHEpHKiqAf0QBjVRgwrgU5Oibij42/IORpQqNTY0FVHsoiHp1RxxRMTtLQByek8+7HxrP4JHkcPoyG7C0AYSQEbOqhuNkzrKxR6DdcthUQRNhMBan1Nu7/ureBi6GJdHn3vM/DKydPQJdkC1O/vd9tr8w2Sstwe3wQoxSkW0unWjQPbvd5FDzkl7lbr0UHRAMp3l6zatVFwbKI/pAnsDKPh5RkqkeW7htuZ2xALXuF7CAV5dxP2y8J0OaGxxQ91Y5uLMicYlhdSForKb/z9DRHb2001L9X8QToTOv2EHpHo3HLMS8wzDLb1rZAhc9NNLLCoUBvrMSEgBhxwAohImSpEPMwcNrIkCuo+AbcYFUp5KMTG7g2f812Hj2LZmSFQQ9fnSovbalM8/B8qvmVYbANTy9Q25IIeH74HdViyOs0gdbFUDhcxxI/4sPq/PggtyYOdrg+8KEBp+WX54mRidV/IdmDbHFjEexfDgKBPpZDmQb+LnqN52qqKbd9fOLKiLjvtlaoe31MIlCq8+xAdfg3/v/fZZFSy8MCVVhmADBPG8qiwwbb2xk+++TuS7KHdzrrDk2x7xE92MgoI5VvF5n6BhAlMbAfv5T357f79KpxIrrlYDM40msAKjCR8bbakHScwDnIJzq4tqLo1lK/lysLLRo7ldqpw5u/nNjIoc4sqK6esqdpQxDB5FcMm+bXgDBXtD8Dvwukrn/Qmy85OGrkEegoS5TNfnnt30WlDtH8utq9F+Q7WG9sfra29qTcq45oRJ+4kWKseMuyogK8focQ0L0dExlPj+Pk2J4fp5DakwGhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016MnShcj3sMgPSLWLmsW1ay",
      "input": {
        "note": "Two forward targets failed to move the arm at all; joints are unchanged so the IK appears stuck. Backing off (less x, more z) as the rig notes advise, before re-approaching.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.1,
          "left_z": 0.27
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_016MnShcj3sMgPSLWLmsW1ay",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4084, 1.3991, 1.1572, -0.5068, -0.3653, -0.2832, 0.9996, -0.0147, 0.7986, 0.6086, -0.3782, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.3931 left_y=-0.0974 left_z=0.2118 left_yaw=0.0456 left_pitch=-0.1302 left_roll=0.0297 left_gripper=0.9996 right_x=0.2959 right_y=0.0011 right_z=0.1812 right_yaw=0.0005 right_pitch=-0.008 right_roll=-0.0009 right_gripper=0.9994\nstate[joint_eff]: [-0.1162, -6.2701, 9.388, 1.7167, -0.2076, 0.1587, -0.0171, -0.335, -1.1829, 7.1863, 1.7753, -0.0317, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4aa088954dd987679f0c6fd029e2a8639fe38f2266cd16eccf34e618d9eb05a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:000abb916b1353eed7436dd493ff95315e9272464ad8dfa1708de33b27aa67ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f856bb168e0b8b815510494ce3398e84f2edab92f54c67ee5c5266d2d62cace2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 15.13 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4084, 1.3991, 1.1572, -0.5068, -0.3653, -0.2836, 0.9996, -0.0147, 0.7986, 0.6086, -0.3782, -0.0101, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.3931 left_y=-0.0974 left_z=0.2118 left_yaw=0.0458 left_pitch=-0.1302 left_roll=0.0294 left_gripper=0.9996 right_x=0.2959 right_y=0.001 right_z=0.1812 right_yaw=0.0002 right_pitch=-0.008 right_roll=-0.0011 right_gripper=0.9994\nstate[joint_eff]: [0.0068, -6.2291, 9.388, 1.6972, -0.1685, 0.1538, -0.0122, -0.2393, -1.2923, 7.0496, 1.707, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4084, 1.3991, 1.1572, -0.5068, -0.3653, -0.2836, 0.9996, -0.0147, 0.7986, 0.6086, -0.3782, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.3931 left_y=-0.0974 left_z=0.2118 left_yaw=0.0458 left_pitch=-0.1302 left_roll=0.0294 left_gripper=0.9996 right_x=0.2959 right_y=0.0011 right_z=0.1812 right_yaw=0.0005 right_pitch=-0.008 right_roll=-0.0009 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -5.8872, 9.4974, 1.6972, -0.1685, 0.1929, -0.0122, -0.1026, -1.2923, 7.0906, 1.7118, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4084, 1.3991, 1.1572, -0.5068, -0.3653, -0.2832, 0.9996, -0.0147, 0.7986, 0.6086, -0.3782, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.3931 left_y=-0.0974 left_z=0.2118 left_yaw=0.0456 left_pitch=-0.1302 left_roll=0.0297 left_gripper=0.9996 right_x=0.2959 right_y=0.0011 right_z=0.1812 right_yaw=0.0005 right_pitch=-0.008 right_roll=-0.0009 right_gripper=0.9994\nstate[joint_eff]: [-0.1162, -6.2701, 9.388, 1.7167, -0.2076, 0.1587, -0.0171, -0.335, -1.1829, 7.1863, 1.7753, -0.0317, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4aa088954dd987679f0c6fd029e2a8639fe38f2266cd16eccf34e618d9eb05a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:000abb916b1353eed7436dd493ff95315e9272464ad8dfa1708de33b27aa67ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f856bb168e0b8b815510494ce3398e84f2edab92f54c67ee5c5266d2d62cace2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSoAkKEAgRGAI4AUIIdGhpbmtpbmcSDARk3mB/HKIz4DlMrxoMCMCXemWFpjYcsjJ3IjBmai7po6q2DHPdQdoYjpt/3AUdgJ+nTolrytuhqLoTVyNbwXiKiA9mTOpTYuisF5YqvQjE1DyMi6O5GMN9noNk3fMMlM3FnSn+OR6tfBz8GeTgd4zyw6Rd5BUXomZ38JViFRPhI2tl5yUGIhlKvgzbggOPzpqJah9XqjpuWLhs1T8sShVVU7AkT5i4niS74E6oxL2bwJVHVQPrWg8bNHjC2kVdblzUAlyCNhYXsZcRusFBaLffp0VCgB2TjQQKqMN1W1UjIZPUPzrqEM3rrdl+2P0cO614kvpAk04KLRz4PWll2FOtfW8sXdZvywQ04guoncBpVW+B7ervFJZpvTR7+oGp/b4jbAiYRBsB5oaFQ37b0H6ryqOvCcpmQzIQH68kxJzN9KoQiawDoB0KapzJWu2gbJVo1TTaPGTiPioSRc67RpIgzRl8Kb1iY5ap4D3WeYd9ifHWPx3dRNUABVLoWk4d/ECXbUAtyGWyI02oNQKZ3dOuDVTwEbmF9QLQwM9SiK7K8cPl9mFVlyEAaTa7djgS/dVskc66HppMOqavhENUMkYz6TQMKJQPGE6Kk3mLIhaEgY5pnZTxnSwvF7a/f2oPtn2XMjnovJV3igbf8mdHYiWe41WiwinxNYNcV/CmEk9AXAB4BBNNcM3LygopEjoIs4rOt5HfcWIuvAjTkIFFIg3dcHxJ2CZUtZj2gQO7yzzlRnLkanydEV7VI0vGAUf+xln5QLEeeiMa+aKZQPwt3Cstx3Apmr9KMITihQgKhz8z1K4wQCx3BrKP/Ij+D5toEwGUL5re0BDrrG5U4GT2FFpkLTB8am/4O9vTEGrBgKUbks4u3DQJPxjoA2VFSiCOkGmVWwc/KIj/t6fnIwyNJZkhimfc9do9PYR7HUycdiZiw7oPcoV358CQh03PgakHBuVD7BNNLAMAgo3sg1qcLCUzRkYuoEFoRSlaxC0bejIIROIWBxJsxnumOi/gubTBL8i3g3gTP27PfqJPk4MVSlb6ceHGLcNmXnPNklG90Y/CTr4pdgU5FJor+1vsRnIuh1D5UtmQpLCMR097fO6oGVHh/TYJWMGWmOYD0pyHXtYAo8e8rI3ZL0RK3YFGE/eTJkJr3r6M1jeNw6eIb0rfGZF5w2RD0G3AYUs73JMNulGSvMYnmhWnBjWhMvL23zHYpeVAkxas4Pu5YvoSnKHg+CSP1BpReDrTbRJdm+qRD1gNsFnTDUHszMjrGQ8CNcabGWqq8qi6yDG/3V/y+XZWe+8XW1ofc14qUDQG2inY6yBlGselZewxmIVCOHS5C4LjK7qWXh3jjkhKVewfZ1oqOEglid04FUzoqBbcmEawXf5jbDehzGPADWTla63bsoXPMUvfqhmlgY9hhmWxHPc0nzOJ3jRG60aii+3NMppWNJ+sAp2nugfNt2lKhkYMXUq3AFsMDsNMl9aObSek/qyP+/nYGblxWXMEIiXqNi35xAXznQoDlyiIQA4MpWYqnDHz5zIUJdTewtF9wWy1nBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EmFxmmicVgVd9n3a5tz9ZV",
      "input": {
        "note": "The left arm is frozen at the same joint pose despite three different targets. Trying a sideways/up target with the orientation explicitly re-specified to see if the controller responds.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.37,
          "left_y": -0.14,
          "left_yaw": 0.0,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01EmFxmmicVgVd9n3a5tz9ZV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5686, 1.3521, 1.15, -0.5056, -0.4503, -0.3332, 0.9996, -0.0147, 0.7986, 0.6086, -0.3782, -0.0101, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.3711 left_y=-0.1416 left_z=0.2305 left_yaw=-0.0215 left_pitch=-0.0663 left_roll=0.0201 left_gripper=0.9996 right_x=0.2959 right_y=0.001 right_z=0.1812 right_yaw=0.0002 right_pitch=-0.008 right_roll=-0.0011 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -7.788, 6.8171, 1.8584, -0.3492, -0.0708, -0.0171, -0.1983, -1.2513, 7.0359, 1.7558, -0.022, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46f4bb642240c1fcf52d75aa4567f6e36831c5e5d6bdeb1223b3046f1e06d6ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a35da44686c68d0151bb2e5f98cc41317280068aada9ddc8f770d7c1f684d25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ed1328d29f7b3528b3e8b6c249b9991a2cbf02717e1c2bdd1a2f153c13ee73b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 8.645 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4084, 1.3991, 1.1572, -0.5068, -0.3653, -0.2836, 0.9996, -0.0147, 0.7986, 0.6086, -0.3782, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.3931 left_y=-0.0974 left_z=0.2118 left_yaw=0.0458 left_pitch=-0.1302 left_roll=0.0294 left_gripper=0.9996 right_x=0.2959 right_y=0.0011 right_z=0.1812 right_yaw=0.0005 right_pitch=-0.008 right_roll=-0.0009 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -5.8872, 9.4974, 1.6972, -0.1685, 0.1929, -0.0122, -0.1026, -1.2923, 7.0906, 1.7118, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4084, 1.3991, 1.1572, -0.5068, -0.3653, -0.2832, 0.9996, -0.0147, 0.7986, 0.6086, -0.3782, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.3931 left_y=-0.0974 left_z=0.2118 left_yaw=0.0456 left_pitch=-0.1302 left_roll=0.0297 left_gripper=0.9996 right_x=0.2959 right_y=0.0011 right_z=0.1812 right_yaw=0.0005 right_pitch=-0.008 right_roll=-0.0009 right_gripper=0.9994\nstate[joint_eff]: [-0.1162, -6.2701, 9.388, 1.7167, -0.2076, 0.1587, -0.0171, -0.335, -1.1829, 7.1863, 1.7753, -0.0317, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5686, 1.3521, 1.15, -0.5056, -0.4503, -0.3332, 0.9996, -0.0147, 0.7986, 0.6086, -0.3782, -0.0101, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.3711 left_y=-0.1416 left_z=0.2305 left_yaw=-0.0215 left_pitch=-0.0663 left_roll=0.0201 left_gripper=0.9996 right_x=0.2959 right_y=0.001 right_z=0.1812 right_yaw=0.0002 right_pitch=-0.008 right_roll=-0.0011 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -7.788, 6.8171, 1.8584, -0.3492, -0.0708, -0.0171, -0.1983, -1.2513, 7.0359, 1.7558, -0.022, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46f4bb642240c1fcf52d75aa4567f6e36831c5e5d6bdeb1223b3046f1e06d6ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a35da44686c68d0151bb2e5f98cc41317280068aada9ddc8f770d7c1f684d25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed1328d29f7b3528b3e8b6c249b9991a2cbf02717e1c2bdd1a2f153c13ee73b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1REKEAgRGAI4AUIIdGhpbmtpbmcSDNuTlq5ziSCE1HPD/RoM1dqlabr8vXFWfExAIjC4JdlgehOvQGluF9/T5dRtxte7Pm8rcyMhQZHJnQ6VpAVPaZDIio0sFv96Ucs0ghsq8hCiizv+vHp3MY7A/wz7ZQ2+Py5KEBCEKFwlUME0XCX4y6zwitUbAJsqWhE1uuN1Do3p7MGhLmIQd1/7kW3mNaArp1/rUUxMJa3MIoDteDNxTCoVhiZ3YS1KWgDS8a+kDwag62VeCw43O2AvZauYppWCsEvH74Nj1rr01ZxqO8E25jPJT0VvFvUxVgUnHNwsnPmRmPSl6OHTap1x5H6HxV3b973zKfTl4QEXVFHtE9WUSYGqqes4f0wFpUkE4nm3RwOCOUxmC7sr4ZvRub3/xWYXGLXKLVp2ZYVyKVmZbhQa/HEt+MOT/E7/6Ur3QpwUwoQym65OMt6Iq0VxxlxOWGT4iwcoaeYlFyz8aHuN6t1MsTinUy9qNhDTicqC1ltO6lqxvUhoGVZ67Tk3Y2bHLQ00BT3gslOcl6xNTfU83X2PTdl/8/UuK+qtQ8b13aMvEboxdBSR5UfMY/2AHTSYa4cRWdM+sUC3P6X5Dvx9sBWaenT3EOyo1YwABpreRBAFt4aTwUJk+xhlG5l0/UknDRodkD2nS4tujct2Jf4WdPnw8cWVG1NsYeAtyy5KHfe1KWcOTIJZUpltM3TnMLvZ5AaBTL+GnXMzUsMxfbUyQQkJZ58qSVNJqe2v+K4wcIe0OSoeMgFAtiP3ynWk6WRTaZ4ldR8AWrY83/ceRBw1ygB6ITh+VJSQedfq9PvRTvqQrm0l7EtblaXS8H8PxTMrn3TifQTRlrEBLDeJErNCErsQvSMjFNLBtDPKQDBQYzwAm7G1oL+E41QgXHjKHAcUKhDrADzcvRtY/ry2OQm/vmkoxh4Kga7Y2H4ur4vH4q/aCoAoARi9mnyw6TcaXJWXvELsBJ5xmtrQo75tx6w49bxUl7Ifw2S3cqUPFyWrmzL3dt9HQuFRG4ayKWMJZ+aeYdqg/WND2Rc9fop0PSXRuEP58ZtvvGBCYhe2O3KeJG6+p9Xu2UFLKw/YZT8tgkFS3DUOzGFje8ayNXPDJVSXvoOOsYu3NeJYcMBG3ZtiRrcGWAIjhnoKI0/eB0nr3lYUVDAzXIPlomYkUFciL12e42Icj2oDb3Bt1m48lYaC3z9nzNFvWB5pdvZR20LN1Oh+M5I+5HkssS36qSVOIdHgpO1s9DSvQwvKNFBdp8wQksBJXZwpvOXS3qbE8Yu7tnJ+o+zxPv6jL1psQ1/s5zkP+v7RHnOOMcGgOqwzhTAIdxGZFzx+Jx265+XoTBs+iLt6S+d78T11MvuOuhPP8ulZSLbyFq2LtjXbh0x+uiDZWC/b907sfFj196+ZemPJYsHgYsU5pKATb+07gQ7tHbUttEONP3Z52CKRNGuyQIAK9E/Dz30/r8zP3k8ZeMSEZJIeHnkqluP/vq5XYLSKUlrxTuL1nJaIKCrr2ewYmtxIeHJO/KDYfc8Xq2tC4fRnxi9GUoxNLnMkrWO1DsSr7K5uOeY8zeId1CNkrWnh2sIsmiAGwA4B6asEBRmwVIJEskYGVT9XaD5c8bzzarWEbyLGoz6YrYu36z5Jhzd4Qhp69+sih+ugiFcRT6DSa8C5aoaFGZfCI4WqFovYKJDtXiUwE/QX/B0ETzo5I0UE4BrRgm6IoaRNvXD++uo8UQJjp+Wr5a6Wx3a9H3x/Tyd31V9oyAQ/rLD4nRcV62DJOgZs2mGQsedihhTTgI+2AY6MozLLlAacjrvXzzLRw3oZRqZAkOebIpzSGhL6JAKhrIgb5cgRaMeocDybz9EeFTFeHajVAkwQWGJuuQYd6sliOnMVVDgCZ7PVXFs0DbLA5wa1YfYQjFGttGVXpj0osUyPxn0bhKdq8rFoHnpXmvEccHMjoRhMYbAaYXvmmWa7HmrMt5RZRf2ipBsNZOqNHcbH1bzJqad3HG/I6ZxUkLemcAIpw8oew/Q18NVyJAFXazlmNYz4MzZimFIUJgyg2XlSdtNRtGvwwYN+JvMkg+pUuoNXoI2AmxTKjz4iPqjMPI9lgpacjE5Tz2oL8eSOfrxLt4Ias3NAtTNNpiGKaSTRBEiNcozw8sCli6gYJNhIiJGT4GhLH/+MZD9dX8aygAZVnGUoC/7S1MtVBpJUkDuzhRloCsfOLgAgj/jIlM8wVTUtx8p1a5O8ITJ1R1WAnOeounm1T4zpKRixT267pBMiLjFgbHCr7NT67g/f8K2vq6Z1oSum9nnJsuRFkOlOh0yOIRmqVJ4R5Yj0NPkzBAuIKPDfhUqsonfZAUW2MS9HPdFVgEqwfCLsjB63q6VBDlpn1pMfne77HDvbLtDIKDoJwqH6JzoFGSrF5ojJoMthsxJ8mf9h1pMPRMxrcFbmnBANDN45cTNJjs9rlgpsbvySGGr+TSpRjAXN8XlPY85z+1tvYSQsfMxAHACL98lgeMgQV3PD5e3UpdNZBPjsDsFieoHY0lS6BWNMhpsV8kBf6fLz3tm1f2X8RXPyOAj72qvVJnvEy6KB4N9182uabpgsgFXiu3FbxxlXgykIGu15rcuMlwfN0uscD/VzLg/Bkc316mSuGgIz3MJs6U156Syfo3PeakIPw3H/lQicrUToZiN6uSje7hnWDNQHQ7Zw8z9+ed1iU9InfzXbH1PVyb+fo/3jygAfA/cNN3hK4Q3L2NMar+tk/OxRsQkngihqTptACNIeCUh+d3y6RGDn1Vexag/V6x3AeyFkKS4nXzIN3dH+0SG/F9+sLMXIgI5TqJ4Xl963ispCR0lQMMGy+w0OjKm1nF4ztDbwiJ/kRBBPZMo4m6AJ4aoU2Gn0g0SyyoKwfBMOGeaPiU9rRleMb8u/7BLnHiVCDLXFlwWXhM0cfxcmIDOkfg4Y1k9odPsNTK/xyHpFMxAJ+ypi6tGAIQm8o8Elu7fzDA0/1g8gQPzJOduKAwYPjnlemBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FmDqYn1vpUwLdP3yie3dPT",
      "input": {
        "note": "Arm responds when orientation is given explicitly. Bottle mouth now sits ~60 px left of the jaw column and ahead; moving right and forward to bring the neck between the jaws.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.42,
          "left_y": -0.085,
          "left_yaw": 0.0,
          "left_z": 0.23
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01FmDqYn1vpUwLdP3yie3dPT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3351, 1.3838, 1.116, -0.3656, -0.3122, -0.2226, 0.9996, -0.0147, 0.7986, 0.6083, -0.3824, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4111 left_y=-0.0819 left_z=0.2236 left_yaw=0.039 left_pitch=-0.0391 left_roll=0.0008 left_gripper=0.9996 right_x=0.2953 right_y=0.0011 right_z=0.1801 right_yaw=0.0005 right_pitch=-0.0126 right_roll=-0.0009 right_gripper=0.9994\nstate[joint_eff]: [0.0205, -5.3675, 6.8308, 1.8486, -0.0464, 0.1685, -0.0122, -0.1162, -1.2103, 7.3915, 1.7558, -0.0415, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9aa99527a56273d9042f354fa46a7f16e1cf41fb615898f41fa0f53e4a0d6ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af1567c11e5d7ba4e681c6a2dbbeccec18cca11bb8b4bd41b38d35441a77862b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:303ab0a70c9b5ea599560a0095ac1f30deba7463354b915b49bce967b5da8564",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 14.81 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4084, 1.3991, 1.1572, -0.5068, -0.3653, -0.2832, 0.9996, -0.0147, 0.7986, 0.6086, -0.3782, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.3931 left_y=-0.0974 left_z=0.2118 left_yaw=0.0456 left_pitch=-0.1302 left_roll=0.0297 left_gripper=0.9996 right_x=0.2959 right_y=0.0011 right_z=0.1812 right_yaw=0.0005 right_pitch=-0.008 right_roll=-0.0009 right_gripper=0.9994\nstate[joint_eff]: [-0.1162, -6.2701, 9.388, 1.7167, -0.2076, 0.1587, -0.0171, -0.335, -1.1829, 7.1863, 1.7753, -0.0317, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5686, 1.3521, 1.15, -0.5056, -0.4503, -0.3332, 0.9996, -0.0147, 0.7986, 0.6086, -0.3782, -0.0101, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.3711 left_y=-0.1416 left_z=0.2305 left_yaw=-0.0215 left_pitch=-0.0663 left_roll=0.0201 left_gripper=0.9996 right_x=0.2959 right_y=0.001 right_z=0.1812 right_yaw=0.0002 right_pitch=-0.008 right_roll=-0.0011 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -7.788, 6.8171, 1.8584, -0.3492, -0.0708, -0.0171, -0.1983, -1.2513, 7.0359, 1.7558, -0.022, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3351, 1.3838, 1.116, -0.3656, -0.3122, -0.2226, 0.9996, -0.0147, 0.7986, 0.6083, -0.3824, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4111 left_y=-0.0819 left_z=0.2236 left_yaw=0.039 left_pitch=-0.0391 left_roll=0.0008 left_gripper=0.9996 right_x=0.2953 right_y=0.0011 right_z=0.1801 right_yaw=0.0005 right_pitch=-0.0126 right_roll=-0.0009 right_gripper=0.9994\nstate[joint_eff]: [0.0205, -5.3675, 6.8308, 1.8486, -0.0464, 0.1685, -0.0122, -0.1162, -1.2103, 7.3915, 1.7558, -0.0415, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9aa99527a56273d9042f354fa46a7f16e1cf41fb615898f41fa0f53e4a0d6ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af1567c11e5d7ba4e681c6a2dbbeccec18cca11bb8b4bd41b38d35441a77862b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:303ab0a70c9b5ea599560a0095ac1f30deba7463354b915b49bce967b5da8564",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7goKEAgRGAI4AUIIdGhpbmtpbmcSDEWBbB2og3OGRA/KGhoMpQb5lVFmhrV5U3HvIjDK47MIi8fQMZzRv8D4UiMEl2dnb0c9peKBLp9hveyCjz4EVUbw79L+S1qgzx9+MZAqiwpwq8d4j6Qej38qHsYb2lAJKM/E4M1uBxPobMlmkKb0/GYTVawRZcScCNIq+M/WxGfV9CT2VAZ+8SmW6QK3xZwALaqJdPIt6Vo/zDoxpwh3oU7Pm90xxbIlZw6NgbVU4v95+HhiQamZvbwi8EfpTguuMritOGpwqY/mZlNDZMv9nUZIgMJLYQdPYXbYYDIQl/mP2n6kl00lLhQEs0qLod8N02mgUbrpagOuFa6XXsuv6aPFcO1XG/bPox3GjeWrAvUtqIY8eMrmPjEM2C4IJXdrXfUD+s1TBsJdnfegNQi8n4j8S6v7Tpk6g1PbPSq4ynpoksiGWuHmRaaOyIBtREAAtOwJWOOnsU63CKasyeWHl44mKCFqDmEvrDxbVHkSCbeTU4zV0FugM8dTMD4YdkxXpWfnFgEgsb9eGHkV1oRCCOVPO4E9GWSUMH5gHFXYi42EH482WbgQUaFQGL7MTuLepbZz01OwvTDtxYYLC7o0Y/H6Z/VJJUuPQM28XJdxk/uo15YDNM6E4KtNgbAeFmmP0IQv6Ffxb4ERg0/BhVaz5ZOS44oNDOnKJ74rylQldZDy7/YtFhYhtwJkFi6mG4mYD3IoQsgbnoVKldbLMWaMukQOo6eAnn8OqP9bjWMPwVc0gRi5SStozqD+ng99wAa8wDeHGh5NVbmmLIrxudSs4Nc9EYVbry51u7UYyg9ItiYV6seaCLr7ZO6ksRPtExhw12UVmYZQngNNJDaw5z9plKf0z95fAoY/aerPfAIuF3Vrs5g0fDsD4SXpXSDS5FrqI3kyL6q/87P7h8l8qy5olw6lsgxgr72QNpmBUcU+w5I7NHBaGMo6pZ51j0l3tFidCe7B6lB8OT4yWFH8k/zVcyrPTmHvwI1VjQZCoQJ9jim4eSXFndzdjhd7WU2WJ54DAUSTd9NDcflBZGT9UuUJhZunfAmj/FQxepio2CppNwKDL0UIkdZZNzeY2i1I5XHQxZkeJdwj0gjPnT01pkPN6oqGIO3gW/B3TqHW3BaFt8jhP8peZKfS7MAQZ0W7BuWPGSbl6hbhDmqWetTnnPKEXe8Hvn3NgfrNyiFmXr2CBSP4vDH9VyeA+1LAGUZSrAU9Mm+0khumE9FItpw1/w4nZMt41Y6XHvd8WO4Ftf8SR28pwAvHXVHXIQRLgz6TaxP/n4brS1w3OWeZp7i3vx8gGLck0kgBE5bgT6XxVS+NSoA0iUMiofVVzxs1c/hZ4G1atECKCylps+mhicTgJDyr9LmkEQOyviEyY5VJjsS2ev9KanYpAAJDW0e20sL4hJPd2NKa5oew9D9ou4GTRRLH4SSqUmz1QCaGu//obDB/XBVY1qI9NSkLWmcfG1oTUZRQ1FCNpaIARS7rc0/079s6uGmOSSjuQNBvsY30EvQ8fDaTYSrPO2O+w+PxQOetkT5N9u6IV2kOg8mB4dsPnslb7ho9E2Tez2W3zW53F7Dtu3jH2dZSy5RVARetKT0UmSv4nzr02rz7QMQzoKPMtmOBkeL+ERe2FN9y5slaxb6yiLzjEIQRWB64C3CjOI1CKKYqXEPjgM9uZgpSwC5Yj4QcDoTtBBnkNOkn1t3MV6n2sUNEVeENsY0XgzwglfQp7xvKLPvT1+kROWq23EGlh08D0yxtnDxsdzun7c+IC9OW3BAY1G/uXrhxbC2sWMp3p/MOtzHM6UyT59W2C0N0TZS6BnqLRk8g0vMGQRgsGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J5FgXpvsriM3S9Pv6VeZSx",
      "input": {
        "note": "The bottle mouth is now centred on the jaw column just ahead of the fingertips, and the top view shows the gripper hovering right behind the neck. Advancing ~2.5 cm and lowering slightly so the open jaws straddle the neck below the mouth.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.435,
          "left_y": -0.082,
          "left_yaw": 0.0,
          "left_z": 0.21
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01J5FgXpvsriM3S9Pv6VeZSx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3077, 1.4136, 1.1049, -0.2905, -0.2752, -0.1963, 0.9996, -0.0147, 0.7986, 0.6083, -0.3847, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4242 left_y=-0.0807 left_z=0.2203 left_yaw=0.0214 left_pitch=-0.0143 left_roll=-0.0092 left_gripper=0.9996 right_x=0.295 right_y=0.0011 right_z=0.1797 right_yaw=0.0005 right_pitch=-0.0149 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [0.4718, -4.6564, 5.9419, 1.7216, -0.0317, 0.2515, -0.0122, -0.335, -1.2239, 7.0222, 1.7314, -0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a4466f98b150945d5d6dc01ac261beb93c304ba8aac57c3673b76c3bef9c78b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2372df457790f332be272e3df5b46802751a77fe128d1a98a22c8b749d10cd98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0b6c511c35c4b48074e77efebc2b41fa3f31eeac8cacaab097f3f4929019514c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 21.9 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5686, 1.3521, 1.15, -0.5056, -0.4503, -0.3332, 0.9996, -0.0147, 0.7986, 0.6086, -0.3782, -0.0101, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.3711 left_y=-0.1416 left_z=0.2305 left_yaw=-0.0215 left_pitch=-0.0663 left_roll=0.0201 left_gripper=0.9996 right_x=0.2959 right_y=0.001 right_z=0.1812 right_yaw=0.0002 right_pitch=-0.008 right_roll=-0.0011 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -7.788, 6.8171, 1.8584, -0.3492, -0.0708, -0.0171, -0.1983, -1.2513, 7.0359, 1.7558, -0.022, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3351, 1.3838, 1.116, -0.3656, -0.3122, -0.2226, 0.9996, -0.0147, 0.7986, 0.6083, -0.3824, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4111 left_y=-0.0819 left_z=0.2236 left_yaw=0.039 left_pitch=-0.0391 left_roll=0.0008 left_gripper=0.9996 right_x=0.2953 right_y=0.0011 right_z=0.1801 right_yaw=0.0005 right_pitch=-0.0126 right_roll=-0.0009 right_gripper=0.9994\nstate[joint_eff]: [0.0205, -5.3675, 6.8308, 1.8486, -0.0464, 0.1685, -0.0122, -0.1162, -1.2103, 7.3915, 1.7558, -0.0415, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3077, 1.4136, 1.1049, -0.2905, -0.2752, -0.1963, 0.9996, -0.0147, 0.7986, 0.6083, -0.3847, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4242 left_y=-0.0807 left_z=0.2203 left_yaw=0.0214 left_pitch=-0.0143 left_roll=-0.0092 left_gripper=0.9996 right_x=0.295 right_y=0.0011 right_z=0.1797 right_yaw=0.0005 right_pitch=-0.0149 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [0.4718, -4.6564, 5.9419, 1.7216, -0.0317, 0.2515, -0.0122, -0.335, -1.2239, 7.0222, 1.7314, -0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a4466f98b150945d5d6dc01ac261beb93c304ba8aac57c3673b76c3bef9c78b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2372df457790f332be272e3df5b46802751a77fe128d1a98a22c8b749d10cd98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b6c511c35c4b48074e77efebc2b41fa3f31eeac8cacaab097f3f4929019514c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XaJmcFDJvfdEKKjhw1Eoko",
      "input": {
        "note": "The bottle mouth now sits at the very bottom of the wrist image between the two jaws. Creeping 1 cm forward and 1.5 cm down so the jaws are around the neck, then I will close.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.435,
          "left_y": -0.082,
          "left_yaw": 0.0,
          "left_z": 0.205
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 1 steps (0.1s)",
      "tool_use_id": "toolu_01XaJmcFDJvfdEKKjhw1Eoko",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2939, 1.4612, 1.0809, -0.2386, -0.2611, -0.1825, 0.9996, -0.0147, 0.7986, 0.6083, -0.3847, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4326 left_y=-0.0796 left_z=0.1997 left_yaw=0.0162 left_pitch=-0.0357 left_roll=0.0008 left_gripper=0.9996 right_x=0.295 right_y=0.0011 right_z=0.1797 right_yaw=0.0005 right_pitch=-0.0149 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -7.6103, 7.3231, 1.9316, -0.0855, 0.1245, -0.0171, -0.3077, -1.2513, 7.0222, 1.746, -0.0415, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c7b92c3c8adc9f43f81aef230075b7c3830b17489549496f9793d768354d824",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3335b6c8a0b1e899996b9b4bedd546e09fbcc2d863a426491646b1b3eb15185",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5e0781ee60084373803eddcfb6829331ac384f27eb26b0b87b4742c38ebe8e8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 15.93 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3351, 1.3838, 1.116, -0.3656, -0.3122, -0.2226, 0.9996, -0.0147, 0.7986, 0.6083, -0.3824, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4111 left_y=-0.0819 left_z=0.2236 left_yaw=0.039 left_pitch=-0.0391 left_roll=0.0008 left_gripper=0.9996 right_x=0.2953 right_y=0.0011 right_z=0.1801 right_yaw=0.0005 right_pitch=-0.0126 right_roll=-0.0009 right_gripper=0.9994\nstate[joint_eff]: [0.0205, -5.3675, 6.8308, 1.8486, -0.0464, 0.1685, -0.0122, -0.1162, -1.2103, 7.3915, 1.7558, -0.0415, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3077, 1.4136, 1.1049, -0.2905, -0.2752, -0.1963, 0.9996, -0.0147, 0.7986, 0.6083, -0.3847, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4242 left_y=-0.0807 left_z=0.2203 left_yaw=0.0214 left_pitch=-0.0143 left_roll=-0.0092 left_gripper=0.9996 right_x=0.295 right_y=0.0011 right_z=0.1797 right_yaw=0.0005 right_pitch=-0.0149 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [0.4718, -4.6564, 5.9419, 1.7216, -0.0317, 0.2515, -0.0122, -0.335, -1.2239, 7.0222, 1.7314, -0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2939, 1.4612, 1.0809, -0.2386, -0.2611, -0.1825, 0.9996, -0.0147, 0.7986, 0.6083, -0.3847, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4326 left_y=-0.0796 left_z=0.1997 left_yaw=0.0162 left_pitch=-0.0357 left_roll=0.0008 left_gripper=0.9996 right_x=0.295 right_y=0.0011 right_z=0.1797 right_yaw=0.0005 right_pitch=-0.0149 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -7.6103, 7.3231, 1.9316, -0.0855, 0.1245, -0.0171, -0.3077, -1.2513, 7.0222, 1.746, -0.0415, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c7b92c3c8adc9f43f81aef230075b7c3830b17489549496f9793d768354d824",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3335b6c8a0b1e899996b9b4bedd546e09fbcc2d863a426491646b1b3eb15185",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e0781ee60084373803eddcfb6829331ac384f27eb26b0b87b4742c38ebe8e8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStBsKEAgRGAI4AUIIdGhpbmtpbmcSDNU4BB/+dh4BGhmCrhoMVdRXj8s8onTacVdLIjAv68BlS0Jgh/EuKBlVP00PQyL+tZJOgu0DBu5N5wEFwdzE67sFEgQwGetCjl8ZacAq0Rr4zlT24mZzlL+/kPlqyE5dSstq7c0zjQ5qUhovWzdaGCX37fsDt0B2USbYOYb5NQTEpfiIQnSOig2DmjnAKNr3ziszlXqNhI3hB4DlxQGeXr5r5ly6iWxcGAxk2PrgPa+zjos9m58ncx+Uhd7IF1FaiOI3KMoM9C8wb2F6gqr/Jahe4g7VyVPUvHMe16HMo9V5AkGrZFJivHzIsmIULxvf/SD8HiXWLUSHoixB4QVsDNpmP28mlH/N8XHvAfO3bbfv6HI7rbuMYS05rmGr7LmAKnNG3zLrjooTBj+3aS9ParHK/TVPfqDqS7G81wiLb4wQFutPsel/07ofNWWwG0j5X+yRIbH3ZTquLhfpINmaJeLnOXFp27lq3Fr1qx/x8PDxrpNCZJRPq2e3bHmvyhAV1WO8SuVQM426L/120XCoLQZIUgCRuGtkaQ1Bd/KKqnILXtz5sJoTyyETrStf4mZ8ke1DfvEnGvFYiA8A3B5B9C/UxH9DiOSmD2CZDjcg1eoEASON24EOriEF8TnfFscFuicYknZ/ElyXy1d7K8sSTx/+Et2DDm+UHpYqi963FhbPCzfAObiOAzrsT+pPrXuuDQtBwQNbx8//oSVwe8ny8UFAHtQfIjq3PC8j6sbppcjma/QgZs3FU0jMBUuMk1QCFdz+rGO43v8ARBTg9Ip9OncxVzbRfHm75omf1Nxw/MK+Dq8O231tBszL29NGidzOysH7ZU5qsKxbpf0nzQadCqPlVYy5BPhBfuR8+a9jakiSFe449Qewnpx/3GCwET7smWe8Asp9YcoptP8a+9f7fSPTUFCjnMHmk9Fjg8ILCbOD9c4MiZvcjYBB6U/X3huth1s/0zzNNcLqo0B4HMRy3rOyy+n4esrMZuxobUcqCsQQLVeWS2C5AC563MdLoAcnoujcyjOvZOzsnzzZtL5lcu3/nw9GNaPMUeKDHxPPJeuM0H2IGiKzE7lmoMVvKU84okJYqMoPu2iVcIwMRXyw7EkrmZnk8wPzhmblWsGqCcSfmFPoryMvNdcquSJWy4gFRnBt5dcibSCYkV2L4lZOcL9JrcSBzutXebsFI4nC7IPsJPpAs6N85xAv6o6z1b8f5cT5sDO4nYT8m/p4f1ISSf+0u4/z27+bTdIwRFzOPJvwSj3jo7VFu3rQ0RtPgU8m+eJ5m/+BZVeR7Cmbhr42Rl3RKG6YZPOrZNpsizaJ2R/j1j4Z9PhrM2f6qXeT0RCrYUwYLHFnVEOpKNsgtWi5kB1IN1VrUHWMzudAC3MYuYxMdw6BLy8ADe9KFMdR9MSlLW8FYx3mQkgu8oF8hKjH/XYNeOve1YlOftMCjDFi9VD06hsW+CAk1BLxSF30PDrlLfEpzBvUnG+xNH/iXl/wNk0rbI64tXvW8UUcUaDWRsvleiVsJwGSnTZyLzIlc7TUXi0kyvK25TQJF0/lg1TewJhGHwPWqe6aKw0vXpH+5wqVdmYoGDBnE3ZgHuIY+ZKVHUNhn+hbb6YFq16T856GSP2OiUKsN2qjX2jiCoP//7Q21hq2SoLSLFdObKWPexQqrnk5zGrcA50CxV4W98oememV47nw+5Yxx9b+4Wol7qbqgfMmuW/FuOhgUJatgkcZky2aPkHOXKbm41R2fFWkB8iBi2yB7HZAWw4idgfwfC79PcQXOGIywhqKz+m6SQ5f46vmDeRgQuImXsdJs3S5erPSeZfw1Q/LMSZKVM18Db8VjRnfssRVHqUPO3qJmlOeROiIiGqvrH5x7NzY92EQTiYcLbmRhNb8KMIbL22PxHDGxbh5+3hboCsNHZRD3XWYJC1kiyEy8eOJBoWaq/RmIMhGR4+IPMhu8F6tiuIcw6mFXDhLD9hhBvAHT8gt2y6HV5EhOLi5OTK/PLQn4YRQb8r7tmiRWsj0icHcEWbP9F26HXHchEaQh0WSRZVh3+2BD3D9RseMz1FYI0uUlmRgn/Y5fLQDsesk0aT0Ab/7o7M3k5rgHdLnrJrcU4XaUuaR2AS38RvOrrT9DtDe/TPfTkXw/V0dB/gHKJs09jWgPSu8Zn+TQaJNFdppOSD/CXStW2/Cpzk2RuAQn+fEJVZ1ORSThbrOmH5YqOoof/eWxgDMzGFXL4IBhIb7FLA2LDdgHvLT+9NeSd1iFYRRtnkciqIBIDaID7+hX62MNvIkzppQC5llZ4oldhdOMau1dL71kyVw0LnP++/58wXudVgolfKZKfyV8vks5youwVEsiT3c+B72SLjOM316MT2ZdOUayBtm8wVDuuZtfjuTVdf3GaqK6vImbjy2pnU1vh2dPZ9n/lLA/1YvqbWNtZ7Di6zIgeNOjXmTNFaCY3EIB6tpNy2ucQSjBxwPrpOForDNckdr7sse0x8N3xA6u2kfPQiJGBrnFq0yPqULKQrfDc3w2KyIPSnXzxGXyLay7R+nac36AnHxZ/3KARRrrNZomNgOtrf8jWdxSvDu05sXvaCRm2Cluugko8sO/Na5gTE1kSjDa27rRLNgl8OHJ04XJx3PdCMziOpzQJjYkPXg/9eNbFqhcqoqYum37mDfTdDAJ8xApIYLk17M8hQWaVQZa7dwyVnX9yn3Ltr9KLIZpHsdA1tL6uOv7UJSunaqJkkZTIAUgsDkkcBlG1SG7iIkuZGU2unh5Yr2aFOWd3aMZrnhak3FT9KnFp967qcTYhp0iBMYaQkydtaVa5h28AleV/Q8n2vRbKjVnOjh2yFSdUyU0DVchNCeMwRKTkmZRNZGWzl+77xJOD/U6frwqxt+2+VVeWoEiVZIjk4rA8eLSrnLs3FklG15DG3qZ0et+ppB+1X014U51CFSmT8qH6vd4KeAxYgFt9ubbKEGuJOFNLJPTtEsp3rfmcsDI542eg6C/XXyDsNiXyiSBPgcP6NHMr0l7qADdKVm1CQEhkcVa9ICDzcD65pXIKe58VTzXj7RX8b3V2WuTt0+Ri36kpUuj2qqMWR77pkg/T2a57g2w6O8t6JYwdb+P97UI2v4TlT2kczSim/HWaqwR07oEkQYClRBY1JqCTW30WlzuoZsLmhSTFbcg/svsjnSocwzquC8IFdFLdrxuUyO79k64nudXjX6bptUjC+njrYa3Ufz+vjDDcFVV961I756EZ+tpwAL4crp4KGbdHfmS+csgPe8lVQC0GZ4CaCpUc+ZPUEvQ0GoWVM1vHEoNPSYWh7dzQihm4DvMUaof9DYrnlphlhA1m3/6oDUQSX215bRPgubMrB8xS2U6FZqgVCZtx9iowiWvaEF5KuYMoYRGCqpROWSNcktwiHJOI2p5rK5/d2f5gqoar0ChYj8W0SVMaJqWPGVypebic0tyjkMPce3nD5pbp502U8QQPqhGQg5N8ZfR0VsvLJjD5nPbVpX0Q6T9QRK+RwjZhAndbQwOGRkiLVw18gaj80ueLago3u3Gl4Rhfic22ffns0x+H8Nl/EkY/fqd2YDZZumHZkAH6tHWqCgWXzZWHtUPmSAQqvh2RV3AjCsPVpiJz4H0ca24w/c4GSDVrr1UtnWPceRvXVJiyYZQYsDaqmZ0Cz2U4Z8HP0kE5Uxnc1ael7JD1NQYX/jybFXPJKARhJVRLf3SQQogJmstG4jpMp8/cE7xGFHYot2RAZiPHgtYbw4iXoyY2aIJmWavdB8I0ekgNsV7ealsPoZ8h0faSWyS1ung65HYLLUspUkeQxr/zWBuTzeKsiipSsPYg2HGYVx++AEgcdkq1I+mBnX2yYVc2NJKSRHKfGMZ8+51ANDNyX51um06Go+VEyxI3dNoG5B9jCh9RSb4E/hlkXNxqi6lWPEUmTzAY6zaBvk1S765XCsf9CxPdc2BzEZLZspeUgqClVp8SXY7UOtaXb80yGrXdrJuI3faDMwBFZAbrxOVK5fy3GTkioEK/ERzOtKolRghIyFd0Np6EPSNBOIzqcIoF+l09ARXUCuM+qgVTajHeba3BWnjM1LuI7njVrIZl7ebzfKwO94NDFkzz/NbGnGiW4YcKQf5JtNDrhSmBT/4rL+OTkazuLTQh7sdxrPXgkZ4KYHiht16Z47MuSgQPTiA5LWkcGU6NbE6f1ZESfyNr3y1aiWULeSsxDbrUmhctnqV9Kvj//x1z4OrK0WC92NGaC4RFJQ9q8b+Nzm1+sguTyJr+ITHi7yCZcH8vj27SA6A5Y3w0k+2Z0kGLGX2U59zulrLG6HhrYDQGXNtGsez5WuKQnOAdN9OkvFpf9//UT/GU35K4I1y6yhlMhz8VodjNAEYIQPgc9w9ahmPdMGjJAIWdQCp2MHV4oIQ/9vU83dKrvCkVdPMXR3oZupQ7049Z2aOAIyKVby2vLWs65AY7uRG4L+aG3bv3jRGvxjpchP9F1KNWdYoL8IHENB9Mf0L/tI7zQUkLF75+jrTm2fd9LET5Dlc+KGdXBX7UDvF7qBVkSLOgE03FTYIMGaoxtVm1PodAHLhUHR/SnoD9enC6w1F4Alapc2fLMeY7MDMRHCpubGclsyT5qJ914el8SQi3x0FyLTD4c7ZaFkMpxNZQ2+Fqh1a24WYs/jxmUAGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HpqFM84X7qc9CMQanKTNDJ",
      "input": {
        "note": "The left container is actually a wide-mouthed white jug with a handle on its right side, too wide to grip at the mouth. Shifting the left arm ~7 cm right to line up over the handle, which I plan to grasp.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.43,
          "left_y": -0.15,
          "left_yaw": 0.0,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01HpqFM84X7qc9CMQanKTNDJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4923, 1.533, 1.1004, -0.2218, -0.3969, -0.2787, 0.9996, -0.0147, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.424 left_y=-0.1458 left_z=0.1859 left_yaw=-0.0186 left_pitch=-0.0368 left_roll=0.0094 left_gripper=0.9996 right_x=0.2949 right_y=0.0011 right_z=0.1796 right_yaw=0.0005 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -6.4068, 9.9077, 1.6874, -0.2418, 0.0415, -0.0171, -0.3487, -1.1556, 7.0222, 1.7265, -0.0366, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff57390ea2beee29e94c1b3297e44737a15f0d7d1d16ed7548a129293ca5f1c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a6e9ddaeb6f09635b43c86a7fe154abcd5194efed82f1e5fd00771c75234ea1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:248bf10d1c431b899e91c64916357a69b212847df14e8853b30e25149ac5dc70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 49.41 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3077, 1.4136, 1.1049, -0.2905, -0.2752, -0.1963, 0.9996, -0.0147, 0.7986, 0.6083, -0.3847, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4242 left_y=-0.0807 left_z=0.2203 left_yaw=0.0214 left_pitch=-0.0143 left_roll=-0.0092 left_gripper=0.9996 right_x=0.295 right_y=0.0011 right_z=0.1797 right_yaw=0.0005 right_pitch=-0.0149 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [0.4718, -4.6564, 5.9419, 1.7216, -0.0317, 0.2515, -0.0122, -0.335, -1.2239, 7.0222, 1.7314, -0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2939, 1.4612, 1.0809, -0.2386, -0.2611, -0.1825, 0.9996, -0.0147, 0.7986, 0.6083, -0.3847, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4326 left_y=-0.0796 left_z=0.1997 left_yaw=0.0162 left_pitch=-0.0357 left_roll=0.0008 left_gripper=0.9996 right_x=0.295 right_y=0.0011 right_z=0.1797 right_yaw=0.0005 right_pitch=-0.0149 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -7.6103, 7.3231, 1.9316, -0.0855, 0.1245, -0.0171, -0.3077, -1.2513, 7.0222, 1.746, -0.0415, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4923, 1.533, 1.1004, -0.2218, -0.3969, -0.2787, 0.9996, -0.0147, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.424 left_y=-0.1458 left_z=0.1859 left_yaw=-0.0186 left_pitch=-0.0368 left_roll=0.0094 left_gripper=0.9996 right_x=0.2949 right_y=0.0011 right_z=0.1796 right_yaw=0.0005 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -6.4068, 9.9077, 1.6874, -0.2418, 0.0415, -0.0171, -0.3487, -1.1556, 7.0222, 1.7265, -0.0366, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff57390ea2beee29e94c1b3297e44737a15f0d7d1d16ed7548a129293ca5f1c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a6e9ddaeb6f09635b43c86a7fe154abcd5194efed82f1e5fd00771c75234ea1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:248bf10d1c431b899e91c64916357a69b212847df14e8853b30e25149ac5dc70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Du4igojzwHW8v3eyf92Vbg",
      "input": {
        "note": "The jug handle is visible ~40 px right of the jaw column, curving down from the rim. Shifting the arm ~5 cm right and lowering to handle height with the jaws partly open to straddle the handle bar.",
        "targets": {
          "left_gripper": 0.7,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.43,
          "left_y": -0.2,
          "left_yaw": 0.0,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Du4igojzwHW8v3eyf92Vbg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6243, 1.665, 1.1072, -0.1291, -0.5007, -0.3614, 0.7033, -0.0143, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4237 left_y=-0.1963 left_z=0.1535 left_yaw=-0.0228 left_pitch=-0.0307 left_roll=0.0127 left_gripper=0.7033 right_x=0.2949 right_y=0.0012 right_z=0.1796 right_yaw=0.0009 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -6.7897, 8.9641, 1.4237, -0.2564, -0.0073, 0.1099, -0.0752, -1.2923, 7.0222, 1.7607, -0.0269, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:064b9f99704cc57ac2b0e1fbd5ee3af57b1f4d0f8fb3bb0758d70b0388c2f733",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f425102efeff0a37e648570ed762b6aa0a885709a3c226bda5c0e99ef924b4ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dc30909e0f6f365d685f96a4d158d0f8b9ec10b53c2607ebee27a785f0221e4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /messages · status 200 · 21.99 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2939, 1.4612, 1.0809, -0.2386, -0.2611, -0.1825, 0.9996, -0.0147, 0.7986, 0.6083, -0.3847, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4326 left_y=-0.0796 left_z=0.1997 left_yaw=0.0162 left_pitch=-0.0357 left_roll=0.0008 left_gripper=0.9996 right_x=0.295 right_y=0.0011 right_z=0.1797 right_yaw=0.0005 right_pitch=-0.0149 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -7.6103, 7.3231, 1.9316, -0.0855, 0.1245, -0.0171, -0.3077, -1.2513, 7.0222, 1.746, -0.0415, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4923, 1.533, 1.1004, -0.2218, -0.3969, -0.2787, 0.9996, -0.0147, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.424 left_y=-0.1458 left_z=0.1859 left_yaw=-0.0186 left_pitch=-0.0368 left_roll=0.0094 left_gripper=0.9996 right_x=0.2949 right_y=0.0011 right_z=0.1796 right_yaw=0.0005 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -6.4068, 9.9077, 1.6874, -0.2418, 0.0415, -0.0171, -0.3487, -1.1556, 7.0222, 1.7265, -0.0366, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6243, 1.665, 1.1072, -0.1291, -0.5007, -0.3614, 0.7033, -0.0143, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4237 left_y=-0.1963 left_z=0.1535 left_yaw=-0.0228 left_pitch=-0.0307 left_roll=0.0127 left_gripper=0.7033 right_x=0.2949 right_y=0.0012 right_z=0.1796 right_yaw=0.0009 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -6.7897, 8.9641, 1.4237, -0.2564, -0.0073, 0.1099, -0.0752, -1.2923, 7.0222, 1.7607, -0.0269, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:064b9f99704cc57ac2b0e1fbd5ee3af57b1f4d0f8fb3bb0758d70b0388c2f733",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f425102efeff0a37e648570ed762b6aa0a885709a3c226bda5c0e99ef924b4ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc30909e0f6f365d685f96a4d158d0f8b9ec10b53c2607ebee27a785f0221e4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QAa3YpzSTVGbrPwU1bsWSj",
      "input": {
        "note": "The wrist camera is now staring straight into the jug's wide mouth, so the fingertips are probably inside it and the jug may have been dragged right by my last sideways move. Lifting straight up to re-survey the jug and cups before choosing a rim grasp.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.424,
          "left_y": -0.196,
          "left_yaw": 0.0,
          "left_z": 0.32
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01QAa3YpzSTVGbrPwU1bsWSj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.63, 1.6543, 1.697, -0.693, -0.5209, -0.3908, 0.9983, -0.0147, 0.7986, 0.6083, -0.3847, -0.0109, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4273 left_y=-0.1983 left_z=0.3105 left_yaw=0.0028 left_pitch=0.0065 left_roll=-0.023 left_gripper=0.9983 right_x=0.295 right_y=0.0012 right_z=0.1797 right_yaw=0.0008 right_pitch=-0.0149 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -7.1316, 8.7726, 1.4481, -0.3199, 0.1001, -0.022, -0.253, -0.8957, 7.0359, 1.7802, -0.0317, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fd6ffd80ab2a1f1b9ee86f197558b3ef45a851f8f3f7701596f5084b09385dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f28bec371ce90a6241677c0c8fc75c5f8885b6bdfbcc4fcf14a89e145fe18712",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8361517a7704b48e307741eba769b450aa1951c375b3036d06fc23c4ec353f0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 10.53 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4923, 1.533, 1.1004, -0.2218, -0.3969, -0.2787, 0.9996, -0.0147, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.424 left_y=-0.1458 left_z=0.1859 left_yaw=-0.0186 left_pitch=-0.0368 left_roll=0.0094 left_gripper=0.9996 right_x=0.2949 right_y=0.0011 right_z=0.1796 right_yaw=0.0005 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -6.4068, 9.9077, 1.6874, -0.2418, 0.0415, -0.0171, -0.3487, -1.1556, 7.0222, 1.7265, -0.0366, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6243, 1.665, 1.1072, -0.1291, -0.5007, -0.3614, 0.7033, -0.0143, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4237 left_y=-0.1963 left_z=0.1535 left_yaw=-0.0228 left_pitch=-0.0307 left_roll=0.0127 left_gripper=0.7033 right_x=0.2949 right_y=0.0012 right_z=0.1796 right_yaw=0.0009 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -6.7897, 8.9641, 1.4237, -0.2564, -0.0073, 0.1099, -0.0752, -1.2923, 7.0222, 1.7607, -0.0269, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.63, 1.6543, 1.697, -0.693, -0.5209, -0.3908, 0.9983, -0.0147, 0.7986, 0.6083, -0.3847, -0.0109, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4273 left_y=-0.1983 left_z=0.3105 left_yaw=0.0028 left_pitch=0.0065 left_roll=-0.023 left_gripper=0.9983 right_x=0.295 right_y=0.0012 right_z=0.1797 right_yaw=0.0008 right_pitch=-0.0149 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -7.1316, 8.7726, 1.4481, -0.3199, 0.1001, -0.022, -0.253, -0.8957, 7.0359, 1.7802, -0.0317, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fd6ffd80ab2a1f1b9ee86f197558b3ef45a851f8f3f7701596f5084b09385dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f28bec371ce90a6241677c0c8fc75c5f8885b6bdfbcc4fcf14a89e145fe18712",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8361517a7704b48e307741eba769b450aa1951c375b3036d06fc23c4ec353f0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EZLM43aYRmQXMaZBvGAVda",
      "input": {
        "note": "From above, the jug mouth is directly below the gripper (it was dragged ~5 cm right, now beside the white bottle) with the red cup straight ahead. Moving 5 cm left and down toward the jug's left rim wall so I can pinch the rim with one jaw inside and one outside.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.42,
          "left_y": -0.15,
          "left_yaw": 0.0,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01EZLM43aYRmQXMaZBvGAVda",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5247, 1.5379, 1.3205, -0.4835, -0.4664, -0.3363, 0.9988, -0.0147, 0.7986, 0.6083, -0.3843, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4204 left_y=-0.1475 left_z=0.2348 left_yaw=0.0365 left_pitch=-0.055 left_roll=0.0229 left_gripper=0.9988 right_x=0.295 right_y=0.0011 right_z=0.1797 right_yaw=0.0005 right_pitch=-0.0145 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -8.7316, 7.2, 1.8632, -0.0269, 0.1099, -0.1343, -0.2393, -1.2513, 7.0359, 1.79, -0.0464, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a43f68f533e4f7ddb17661b94325e5adba17b569a030d7341482b376f88488f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88529bd5c570eb5bb5c0dd1226f75043a9068520edb9dd674aa5adb158c84423",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4e4ecc4518413b798315b2173e0148f232d779a798f01b1ab28eefe558e50e1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 25.51 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6243, 1.665, 1.1072, -0.1291, -0.5007, -0.3614, 0.7033, -0.0143, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4237 left_y=-0.1963 left_z=0.1535 left_yaw=-0.0228 left_pitch=-0.0307 left_roll=0.0127 left_gripper=0.7033 right_x=0.2949 right_y=0.0012 right_z=0.1796 right_yaw=0.0009 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -6.7897, 8.9641, 1.4237, -0.2564, -0.0073, 0.1099, -0.0752, -1.2923, 7.0222, 1.7607, -0.0269, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.63, 1.6543, 1.697, -0.693, -0.5209, -0.3908, 0.9983, -0.0147, 0.7986, 0.6083, -0.3847, -0.0109, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4273 left_y=-0.1983 left_z=0.3105 left_yaw=0.0028 left_pitch=0.0065 left_roll=-0.023 left_gripper=0.9983 right_x=0.295 right_y=0.0012 right_z=0.1797 right_yaw=0.0008 right_pitch=-0.0149 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -7.1316, 8.7726, 1.4481, -0.3199, 0.1001, -0.022, -0.253, -0.8957, 7.0359, 1.7802, -0.0317, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5247, 1.5379, 1.3205, -0.4835, -0.4664, -0.3363, 0.9988, -0.0147, 0.7986, 0.6083, -0.3843, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4204 left_y=-0.1475 left_z=0.2348 left_yaw=0.0365 left_pitch=-0.055 left_roll=0.0229 left_gripper=0.9988 right_x=0.295 right_y=0.0011 right_z=0.1797 right_yaw=0.0005 right_pitch=-0.0145 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -8.7316, 7.2, 1.8632, -0.0269, 0.1099, -0.1343, -0.2393, -1.2513, 7.0359, 1.79, -0.0464, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a43f68f533e4f7ddb17661b94325e5adba17b569a030d7341482b376f88488f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88529bd5c570eb5bb5c0dd1226f75043a9068520edb9dd674aa5adb158c84423",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e4ecc4518413b798315b2173e0148f232d779a798f01b1ab28eefe558e50e1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlAsKEAgRGAI4AUIIdGhpbmtpbmcSDNhseAzRvlHgT6XWTBoMGeqwhzxigWHXQ7H2IjCAAHoqfsy8IcgVbEl9wBuk1eCPXCncK0m+cPwJ5lvASqUbkGBraTXf/ucKpnNcgjUqsQruzr/EyWsTpv8AUGHj2Ie4dMR2OleRzYtQ7DW8mnYzN4l04Am+Dfw/FzMB9CXS1ZxnCcGd3VVL/PTQAugFQlHfziGDqWGPga8a/evW1o2FKp0MwTUnTEu05GHxGViyb1l3u8imr+u/FRXaMcAVC4WxqnJAuAg9xpJ/vQgGmzg6nAgP65nDjgWNcQNRBwAJYB23efWCPzUlDbXc2wUxLAd5WFA8srsQY+hZe3Jui/fvXlCl+KHyySoMWS2jpsDWmgwLprenoLyD4Qq1LVwogTl5uyDkSI7nT5hNQVjE4yQgUeNEpqZ4v8oueYe1VjZc18nPHXBBY2RGRYnhbOBnoMoxI1g/gBKAOeQ9nskK3M3PjuvbW0eGv+bngfyl7VQ9uqHJg6Xwj0SO3z5e92eDmYjUhdf/UAkD+t0t2KA6HWn2TuZCeCYEgbo9A2hkxQ3gS2bwQRRN6nsTSnNPc6mGiJjyQsxfK4F3fvR1fYt4eMx6RtlF5zFE5q3v9Zh1wt/tBSWV2pkuH88gt0ajWpwuBj1YtHi2oN0iDLXM9ol4jcelmAhGAdGbDEuEkm5bEO5dxmPB2hedJcqaVVYoK1/CgA/Tu66BefnrhOzK+F1Ey16NZRSss1NsqrUIn7F4/FlCwbUa1vVEWsaolvHIcWNZfskWyEgINOZAbv2HTfrbwkpvSm3bXTKOEXgvV/cP9oKdNZkVY2OuaZ2BXMjXCRmfUn9bFd50VomCGhJcT+8FDhesTud5HR+2zV1F3eBflnWHk/6CDQyLx2wwCXlNEOBlLd11JtDbN1+ZVafVSRGxpPhy0jq5y6x/2G28B7pWN9WX6HtpGijFEw3yLC2C4T1nxaIMZlqiMN8BR7QucVqZ0XT9UXKcwxflYqMSqT9rsKCr+LtVlmtRiY721E0/bVvwkeQDnBK33KzCYq+mJno41y4NZ3H3sATx4ucnV6KhGJkyq9gXf3c4CIBV2n0Z6UQXSzfcwf3BpTaLbSTnzUzyZIDgwiAWq00lEpia0+6Y52N1Xjd9b/y5HgRQERN2d4U5CEsMwcLDjx+jjgM8a4//Jd+Ys7au2E2QDtYhmKanR+ALyYPUz9l119Gui0HokrG7BLoaDv05Cy1a9Xd0anmsOkMalqx1zLZDSYP3k//76lZY+coWrQwi1uOi0LZs7QFTieJmI+shk0IvRXAHx3yj1EPbk7883AX+6ZuoOEOFWqkT4gYRQamDYvEzTL2WBbdhsx1UjbY18z8NyZVoYraAFQ7lm/4vjQUL+9Kw+oCnxrGLq9DZM+scXRTKZLrZrRCEQAS6qAJlJVNWc4W4AKog2t17U8qOoZvAMAS/z0wLHbIhyRrgD1PxRavUVUadmMKjLOd5bRaz83kcCVMBpucMiD8vKdPE5MwCY3QuW+g5hHIFAIwmady5RcWC6THwyr9PRDJ2t4nAmF9qHbCu8IqJyBY8fD3Ijje8tbiUhvx68JL+f/3/KXtJcHXqMTv30uYFhMjkeQE6ytAfOrc4F63rLEngRApXTHGkUIF315rE/Csuin0FUoXeg85+pf8nn/E+s5kS2UC+EpdH/7tg9LxdK/4BFBd39WucXEJWP8D39iuKETf5hWbocz09kkRuM+91mKm8+aJ+8rwMTcsgDFZ1XGH2WRhm/yohnMawXiBLkvCwcGEZfsUvUxZ7XGZ5SUiUUWZiJnL8hzxE9ZdCoAJEL2Nd9GgIO5T56w6ejFZL9jAj7qEUk71N8y4HbPZH1Q93MkdgaIMlbZZR5CAdjppFOCE7arYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014SPZJPQPfSvcF6hUDfrc7B",
      "input": {
        "note": "The jug's near-left rim wall shows just right of the jaw column at the bottom of the wrist view. Shifting 2.5 cm right and descending to rim height so the open jaws straddle the rim wall.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.42,
          "left_y": -0.172,
          "left_yaw": 0.0,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_014SPZJPQPfSvcF6hUDfrc7B",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5671, 1.5265, 1.1145, -0.0746, -0.5022, -0.3714, 0.9988, -0.0147, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4321 left_y=-0.1701 left_z=0.2276 left_yaw=0.0468 left_pitch=0.1341 left_roll=-0.1096 left_gripper=0.9988 right_x=0.2949 right_y=0.0011 right_z=0.1796 right_yaw=0.0005 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-1.0872, -2.7692, 3.5897, 0.1099, -0.0122, 0.3785, -0.1392, -0.0889, -1.1419, 7.0496, 1.7949, -0.0122, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:069a866c972699c0934d8c1845d9c5f41e182bdc0578166d6122ef35a24eaddd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74986ecd386912a88267587a89eac9477f49e646238938efcd9d8ca107d98be1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:63f3c6fb7597b2ae31ccd26dcadc3fc0a89943e484d947b4198fe434e9d426bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 13.76 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.63, 1.6543, 1.697, -0.693, -0.5209, -0.3908, 0.9983, -0.0147, 0.7986, 0.6083, -0.3847, -0.0109, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4273 left_y=-0.1983 left_z=0.3105 left_yaw=0.0028 left_pitch=0.0065 left_roll=-0.023 left_gripper=0.9983 right_x=0.295 right_y=0.0012 right_z=0.1797 right_yaw=0.0008 right_pitch=-0.0149 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -7.1316, 8.7726, 1.4481, -0.3199, 0.1001, -0.022, -0.253, -0.8957, 7.0359, 1.7802, -0.0317, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5247, 1.5379, 1.3205, -0.4835, -0.4664, -0.3363, 0.9988, -0.0147, 0.7986, 0.6083, -0.3843, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4204 left_y=-0.1475 left_z=0.2348 left_yaw=0.0365 left_pitch=-0.055 left_roll=0.0229 left_gripper=0.9988 right_x=0.295 right_y=0.0011 right_z=0.1797 right_yaw=0.0005 right_pitch=-0.0145 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -8.7316, 7.2, 1.8632, -0.0269, 0.1099, -0.1343, -0.2393, -1.2513, 7.0359, 1.79, -0.0464, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5671, 1.5265, 1.1145, -0.0746, -0.5022, -0.3714, 0.9988, -0.0147, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4321 left_y=-0.1701 left_z=0.2276 left_yaw=0.0468 left_pitch=0.1341 left_roll=-0.1096 left_gripper=0.9988 right_x=0.2949 right_y=0.0011 right_z=0.1796 right_yaw=0.0005 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-1.0872, -2.7692, 3.5897, 0.1099, -0.0122, 0.3785, -0.1392, -0.0889, -1.1419, 7.0496, 1.7949, -0.0122, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:069a866c972699c0934d8c1845d9c5f41e182bdc0578166d6122ef35a24eaddd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74986ecd386912a88267587a89eac9477f49e646238938efcd9d8ca107d98be1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63f3c6fb7597b2ae31ccd26dcadc3fc0a89943e484d947b4198fe434e9d426bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01L4CRgVTSesyaWHGqYGzwgb",
      "input": {
        "note": "The descent stopped at z≈0.23 with the tool tilting, so a jaw landed on top of the jug rim (rim ≈ 0.22 m high). Lifting clear and shifting 3 cm left so the rim wall should fall between the jaws on the next descent.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.43,
          "left_y": -0.14,
          "left_yaw": 0.0,
          "left_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01L4CRgVTSesyaWHGqYGzwgb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4824, 1.533, 1.298, -0.3534, -0.4324, -0.3145, 0.9988, -0.0147, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4383 left_y=-0.1419 left_z=0.2494 left_yaw=0.0392 left_pitch=0.0309 left_roll=-0.0343 left_gripper=0.9988 right_x=0.2949 right_y=0.0011 right_z=0.1796 right_yaw=0.0005 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [0.1573, -8.9641, 9.6752, 1.707, -0.0317, 0.1441, -0.1343, -0.1846, -1.265, 7.1863, 1.7265, -0.0366, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec3f10194699f81a0fdf66e95191c60714c49797c3b8e4c7567b44897d83b33d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3661593d1b6e01cfce899771804e66003d6d814309f5095b77fdbe919049c125",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8d0f951a706c1b6744fc9420eca5cbbd9f466dc8aafb8927e0ba7e61d78a6912",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 19.53 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5247, 1.5379, 1.3205, -0.4835, -0.4664, -0.3363, 0.9988, -0.0147, 0.7986, 0.6083, -0.3843, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4204 left_y=-0.1475 left_z=0.2348 left_yaw=0.0365 left_pitch=-0.055 left_roll=0.0229 left_gripper=0.9988 right_x=0.295 right_y=0.0011 right_z=0.1797 right_yaw=0.0005 right_pitch=-0.0145 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -8.7316, 7.2, 1.8632, -0.0269, 0.1099, -0.1343, -0.2393, -1.2513, 7.0359, 1.79, -0.0464, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5671, 1.5265, 1.1145, -0.0746, -0.5022, -0.3714, 0.9988, -0.0147, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4321 left_y=-0.1701 left_z=0.2276 left_yaw=0.0468 left_pitch=0.1341 left_roll=-0.1096 left_gripper=0.9988 right_x=0.2949 right_y=0.0011 right_z=0.1796 right_yaw=0.0005 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-1.0872, -2.7692, 3.5897, 0.1099, -0.0122, 0.3785, -0.1392, -0.0889, -1.1419, 7.0496, 1.7949, -0.0122, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4824, 1.533, 1.298, -0.3534, -0.4324, -0.3145, 0.9988, -0.0147, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4383 left_y=-0.1419 left_z=0.2494 left_yaw=0.0392 left_pitch=0.0309 left_roll=-0.0343 left_gripper=0.9988 right_x=0.2949 right_y=0.0011 right_z=0.1796 right_yaw=0.0005 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [0.1573, -8.9641, 9.6752, 1.707, -0.0317, 0.1441, -0.1343, -0.1846, -1.265, 7.1863, 1.7265, -0.0366, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec3f10194699f81a0fdf66e95191c60714c49797c3b8e4c7567b44897d83b33d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3661593d1b6e01cfce899771804e66003d6d814309f5095b77fdbe919049c125",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d0f951a706c1b6744fc9420eca5cbbd9f466dc8aafb8927e0ba7e61d78a6912",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GA1mcCePUhvsVATw1ZHKQj",
      "input": {
        "note": "The jug's left rim edge now appears just right of the jaw column, so the wall should pass between the open jaws. Descending to z=0.17 so the jaws straddle the rim wall; a stopped descent would mean I am still on top of it.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.435,
          "left_y": -0.14,
          "left_yaw": 0.0,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01GA1mcCePUhvsVATw1ZHKQj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.477, 1.5364, 1.2488, -0.3267, -0.4187, -0.3077, 0.9988, -0.0147, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4363 left_y=-0.1406 left_z=0.2306 left_yaw=0.0295 left_pitch=0.0046 left_roll=-0.0224 left_gripper=0.9988 right_x=0.2949 right_y=0.0011 right_z=0.1796 right_yaw=0.0005 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -7.5145, 7.1863, 1.8339, -0.2418, -0.0366, -0.1343, -0.1573, -1.1145, 7.0085, 1.7167, -0.022, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e03bc2dfa41bad8488594194c48ff8c3cede98f76cbe1d1cb1dedcbe888bc159",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43a363ea958f876da762412d398b766f09bc203799df0f01172a9d96753cec00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:641668abe42ec838315aa5a4762d3b822bb8859d069a629fa3fa5e489248577d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 11.53 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5671, 1.5265, 1.1145, -0.0746, -0.5022, -0.3714, 0.9988, -0.0147, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4321 left_y=-0.1701 left_z=0.2276 left_yaw=0.0468 left_pitch=0.1341 left_roll=-0.1096 left_gripper=0.9988 right_x=0.2949 right_y=0.0011 right_z=0.1796 right_yaw=0.0005 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-1.0872, -2.7692, 3.5897, 0.1099, -0.0122, 0.3785, -0.1392, -0.0889, -1.1419, 7.0496, 1.7949, -0.0122, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4824, 1.533, 1.298, -0.3534, -0.4324, -0.3145, 0.9988, -0.0147, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4383 left_y=-0.1419 left_z=0.2494 left_yaw=0.0392 left_pitch=0.0309 left_roll=-0.0343 left_gripper=0.9988 right_x=0.2949 right_y=0.0011 right_z=0.1796 right_yaw=0.0005 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [0.1573, -8.9641, 9.6752, 1.707, -0.0317, 0.1441, -0.1343, -0.1846, -1.265, 7.1863, 1.7265, -0.0366, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.477, 1.5364, 1.2488, -0.3267, -0.4187, -0.3077, 0.9988, -0.0147, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4363 left_y=-0.1406 left_z=0.2306 left_yaw=0.0295 left_pitch=0.0046 left_roll=-0.0224 left_gripper=0.9988 right_x=0.2949 right_y=0.0011 right_z=0.1796 right_yaw=0.0005 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -7.5145, 7.1863, 1.8339, -0.2418, -0.0366, -0.1343, -0.1573, -1.1145, 7.0085, 1.7167, -0.022, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e03bc2dfa41bad8488594194c48ff8c3cede98f76cbe1d1cb1dedcbe888bc159",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43a363ea958f876da762412d398b766f09bc203799df0f01172a9d96753cec00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:641668abe42ec838315aa5a4762d3b822bb8859d069a629fa3fa5e489248577d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PvxkXc4ugsYmP8F2hZLBhV",
      "input": {
        "note": "The descent stopped again at z≈0.23: the right jaw is resting on the jug's closed, domed lid, so this is a capped jug whose lid centre is about 6 cm right of the jaw column. Lifting and centring over the lid so the open jaws can drop around it onto the neck.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.435,
          "left_y": -0.2,
          "left_yaw": 0.0,
          "left_z": 0.27
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01PvxkXc4ugsYmP8F2hZLBhV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.477, 1.5364, 1.2488, -0.3267, -0.4191, -0.3077, 0.9988, -0.0147, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4363 left_y=-0.1406 left_z=0.2306 left_yaw=0.0298 left_pitch=0.0047 left_roll=-0.0222 left_gripper=0.9988 right_x=0.2949 right_y=0.0011 right_z=0.1796 right_yaw=0.0005 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -7.6376, 7.0906, 1.8144, -0.2906, -0.0464, -0.1392, -0.253, -1.2923, 7.0085, 1.7021, -0.0122, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c1a1c2937a42b4ff4df1355809ed0ab588ea27ce1d3a4623247dc48f2734958",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:325d559bab62ab19f70c835fa2e5084f5cd43dda7a77e3e66b62aec3d4b139e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c044b7071b2e2f8243db60f2dc21e1d452b52d2c4dca9ce6841ae780727625f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 10.29 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4824, 1.533, 1.298, -0.3534, -0.4324, -0.3145, 0.9988, -0.0147, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4383 left_y=-0.1419 left_z=0.2494 left_yaw=0.0392 left_pitch=0.0309 left_roll=-0.0343 left_gripper=0.9988 right_x=0.2949 right_y=0.0011 right_z=0.1796 right_yaw=0.0005 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [0.1573, -8.9641, 9.6752, 1.707, -0.0317, 0.1441, -0.1343, -0.1846, -1.265, 7.1863, 1.7265, -0.0366, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.477, 1.5364, 1.2488, -0.3267, -0.4187, -0.3077, 0.9988, -0.0147, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4363 left_y=-0.1406 left_z=0.2306 left_yaw=0.0295 left_pitch=0.0046 left_roll=-0.0224 left_gripper=0.9988 right_x=0.2949 right_y=0.0011 right_z=0.1796 right_yaw=0.0005 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -7.5145, 7.1863, 1.8339, -0.2418, -0.0366, -0.1343, -0.1573, -1.1145, 7.0085, 1.7167, -0.022, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.477, 1.5364, 1.2488, -0.3267, -0.4191, -0.3077, 0.9988, -0.0147, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4363 left_y=-0.1406 left_z=0.2306 left_yaw=0.0298 left_pitch=0.0047 left_roll=-0.0222 left_gripper=0.9988 right_x=0.2949 right_y=0.0011 right_z=0.1796 right_yaw=0.0005 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -7.6376, 7.0906, 1.8144, -0.2906, -0.0464, -0.1392, -0.253, -1.2923, 7.0085, 1.7021, -0.0122, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c1a1c2937a42b4ff4df1355809ed0ab588ea27ce1d3a4623247dc48f2734958",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:325d559bab62ab19f70c835fa2e5084f5cd43dda7a77e3e66b62aec3d4b139e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c044b7071b2e2f8243db60f2dc21e1d452b52d2c4dca9ce6841ae780727625f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DjxZ7q6uVjH6zSwcqWp8VJ",
      "input": {
        "note": "The arm did not move at all on the last command (jaw still resting on the jug lid). Sending a pure vertical lift first to break contact before re-centring.",
        "targets": {
          "left_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01DjxZ7q6uVjH6zSwcqWp8VJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4816, 1.5616, 1.4036, -0.4786, -0.4194, -0.3256, 0.9984, -0.0143, 0.7986, 0.6083, -0.3851, -0.0109, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4384 left_y=-0.1439 left_z=0.2593 left_yaw=0.0351 left_pitch=-0.0146 left_roll=-0.0263 left_gripper=0.9984 right_x=0.2949 right_y=0.0013 right_z=0.1796 right_yaw=0.0012 right_pitch=-0.0153 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -8.759, 9.5932, 1.6972, -0.1392, 0.1685, -0.0611, -0.2667, -1.2513, 7.0085, 1.7021, -0.0317, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3eccb6a83f5c894a00dbfce3b91859b35c2c0ffeba8a9ca697d6cdb65142492",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d45c7d6976533201a71da0e69b4fcd49cff334a540fa8dd211d841ac77a3a32b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:264757493d1f383e6d10e0c1e6e38c0cb2743b0789b15084aaf6f24b4fb3c73e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /messages · status 200 · 9.017 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.477, 1.5364, 1.2488, -0.3267, -0.4187, -0.3077, 0.9988, -0.0147, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4363 left_y=-0.1406 left_z=0.2306 left_yaw=0.0295 left_pitch=0.0046 left_roll=-0.0224 left_gripper=0.9988 right_x=0.2949 right_y=0.0011 right_z=0.1796 right_yaw=0.0005 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -7.5145, 7.1863, 1.8339, -0.2418, -0.0366, -0.1343, -0.1573, -1.1145, 7.0085, 1.7167, -0.022, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.477, 1.5364, 1.2488, -0.3267, -0.4191, -0.3077, 0.9988, -0.0147, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4363 left_y=-0.1406 left_z=0.2306 left_yaw=0.0298 left_pitch=0.0047 left_roll=-0.0222 left_gripper=0.9988 right_x=0.2949 right_y=0.0011 right_z=0.1796 right_yaw=0.0005 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -7.6376, 7.0906, 1.8144, -0.2906, -0.0464, -0.1392, -0.253, -1.2923, 7.0085, 1.7021, -0.0122, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4816, 1.5616, 1.4036, -0.4786, -0.4194, -0.3256, 0.9984, -0.0143, 0.7986, 0.6083, -0.3851, -0.0109, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4384 left_y=-0.1439 left_z=0.2593 left_yaw=0.0351 left_pitch=-0.0146 left_roll=-0.0263 left_gripper=0.9984 right_x=0.2949 right_y=0.0013 right_z=0.1796 right_yaw=0.0012 right_pitch=-0.0153 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -8.759, 9.5932, 1.6972, -0.1392, 0.1685, -0.0611, -0.2667, -1.2513, 7.0085, 1.7021, -0.0317, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3eccb6a83f5c894a00dbfce3b91859b35c2c0ffeba8a9ca697d6cdb65142492",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d45c7d6976533201a71da0e69b4fcd49cff334a540fa8dd211d841ac77a3a32b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:264757493d1f383e6d10e0c1e6e38c0cb2743b0789b15084aaf6f24b4fb3c73e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CRr2RFUhdHR266NwxpimUa",
      "input": {
        "note": "Lift succeeded; the white jug's domed top now shows at the lower right of the wrist view about 8 cm right of the jaw column. Moving right to centre the open jaws over the jug's lid.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.44,
          "left_y": -0.22,
          "left_z": 0.27
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01CRr2RFUhdHR266NwxpimUa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6514, 1.7256, 1.6119, -0.6018, -0.5327, -0.4454, 0.9988, -0.0147, 0.7986, 0.6083, -0.3851, -0.0109, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4373 left_y=-0.2161 left_z=0.259 left_yaw=0.0203 left_pitch=-0.0412 left_roll=-0.0232 left_gripper=0.9988 right_x=0.2949 right_y=0.0012 right_z=0.1796 right_yaw=0.0008 right_pitch=-0.0153 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -8.2667, 8.9368, 1.4921, -0.3346, 0.0366, -0.1392, -0.0889, -1.2513, 7.0496, 1.7216, -0.0317, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67b1250ad4ad4f2fb3ed67fd3fe218bd6c0ed4386e0335785cf4120d5c7a71a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:acd3cebdfa158486507a34fe4cc7a5db806c302d39bd97598e7254fd15c8060a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f5134b50be3f39be66b77ffa494f85693d6dc70eb5b173e23b149c2affe03acf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 22 attempt 0 · /messages · status 200 · 10.94 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.477, 1.5364, 1.2488, -0.3267, -0.4191, -0.3077, 0.9988, -0.0147, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4363 left_y=-0.1406 left_z=0.2306 left_yaw=0.0298 left_pitch=0.0047 left_roll=-0.0222 left_gripper=0.9988 right_x=0.2949 right_y=0.0011 right_z=0.1796 right_yaw=0.0005 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -7.6376, 7.0906, 1.8144, -0.2906, -0.0464, -0.1392, -0.253, -1.2923, 7.0085, 1.7021, -0.0122, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4816, 1.5616, 1.4036, -0.4786, -0.4194, -0.3256, 0.9984, -0.0143, 0.7986, 0.6083, -0.3851, -0.0109, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4384 left_y=-0.1439 left_z=0.2593 left_yaw=0.0351 left_pitch=-0.0146 left_roll=-0.0263 left_gripper=0.9984 right_x=0.2949 right_y=0.0013 right_z=0.1796 right_yaw=0.0012 right_pitch=-0.0153 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -8.759, 9.5932, 1.6972, -0.1392, 0.1685, -0.0611, -0.2667, -1.2513, 7.0085, 1.7021, -0.0317, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6514, 1.7256, 1.6119, -0.6018, -0.5327, -0.4454, 0.9988, -0.0147, 0.7986, 0.6083, -0.3851, -0.0109, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4373 left_y=-0.2161 left_z=0.259 left_yaw=0.0203 left_pitch=-0.0412 left_roll=-0.0232 left_gripper=0.9988 right_x=0.2949 right_y=0.0012 right_z=0.1796 right_yaw=0.0008 right_pitch=-0.0153 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -8.2667, 8.9368, 1.4921, -0.3346, 0.0366, -0.1392, -0.0889, -1.2513, 7.0496, 1.7216, -0.0317, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67b1250ad4ad4f2fb3ed67fd3fe218bd6c0ed4386e0335785cf4120d5c7a71a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:acd3cebdfa158486507a34fe4cc7a5db806c302d39bd97598e7254fd15c8060a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5134b50be3f39be66b77ffa494f85693d6dc70eb5b173e23b149c2affe03acf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0AoKEAgRGAI4AUIIdGhpbmtpbmcSDPeQQyBrS1ufBJCxbRoMQVNKhNN4YRaiI3ZbIjAETdu92/aP8+6eV372ME7j8T6SXLsHDEj/5u59QWaFATgVdS6G0eB+UQ6gHqPsTp4q7Qk8peibUVB8kz/YW8zGcy3BgvhEdbhZejLm7HFPZDH6CrCbB/y6/cNWWdyphSV77ldmB4YXtpxSo9u0GkzAvqBKOu0IoBvu/vkTuZUjtqm+kr4BK2SqwKZJ/K4aU2VlBSisXfkyazRGxDcfek7xvrUCtNK4nwk3AyxRo1p/OWGpn/vTLIqCnDxrkKGixjRtO9EAKMV4lPindaZltqDyoia+mrSvh0qG06+9yalA0mdOBEiNJlyJPKn4VpuuJTvLIiqA+NK7v5qkpgTzD7rm3Lf/cRICBwaO8GcIfHIyeKJRH5/cbkjZZzn0xCW86Rx2qCfv300QUIe6CDyVpnXOXMfjXSXqjwrBYhDvnZMZEC8pFEWCNcVhiqL6h4C5KncoN8xPa56aRZ/M7y/ODfD22PPzWsirmDnbpv4TPpAzgsZkwIfkTG1wHLRVv7pTyTpEj9097GeE5n2+ahEDY69xoDzfUWRorkafb+NhvhtYHfZm7Gf0wvkggzpfK01VJrCdI0qrdrr1dWi1r18+Jq88jaYFh5HzlZN5/4qiWfYYg2Gsw8nIPXVFWaKnSLDGAPq2BjbMzB23MZuFM0LSdZqW6QXr6TWaDkis1XUy2S/xt2cFjG+pT3M6qFEFn96DxeefbE34CALgVLajWQxHkwpdNYYY/Ozlth3b3/fMF48ZeqviRFvnOHCEcQcDhL6zpngTEkA9o/GH5zlZMUNWOEGeYQyTzrGuSg0e2AF3PaTIVjb1QzuX/k2tnj4KxJlpERjuQm3MB1PzFrQ3SaTXTeJzgFf3ZTWFCilH2oqdKxGJ1sqoF871icRrNsRuaeFQBQMRkP8UrLO+IMdWf8i0PS3aLNVMSEgdd7+LbowT1h/uW8U8THRNaTlOhneK59dK/VAQ0HOHIDIMAgohGiuGrMc57N/LmNAbhGF8cqLao7KDhDH5jOQzcwAJCNj+ecGQOtBNrlrDyeVIlu4M54boDhw2XF4Vv75QZv+q1PwPYRQpM2QN8P/Ebs9vXRs5RmpO+V71I2BmHCUvFSyCMK4emW08/zJY0OJ6XqYJDYML2fOdpUHMwBUCrQPDijcKtBkuysK4H8FbGM+ecT4uNBLxAVAtn/z7K4239AC0NX0NSiXTy38E1XgLGc64ucwCATCa8oMknWxt5PvtPj9gtmlJsjhehlkMw6PalTgnIbzm1cg9S/T4bMcB1rPdYdmbdVWbg1Kj2y5VwGwIdfYWdmPbw3QcSLRmZb+3dBahmsDHl0sqZi5Oj4GFGo/mGsuVEVTk2xtX4OYRNAketvgT4FcrR4LQRHc+cDErPgCJ07CN86b6QSz/zYJBPOicWqMrzuxE8fN0Z9SurRcO8UCbh/eCEWksrN6xA5ZlozQ2jIJvGYKxbKL93qvZPQEfR0+2KEJE9cYG6nzS3WTjcSCXVAq7GTNdjqhyRYcWabB0mZyScouYGa+N1ozQ3wgOIGouoJwIZwUQ/KdpUShtFueV8rbwrc4mppYPbQAEWvrFSSpUvMIYLs4asaOJaaocJEd7um6FUKtsMU6ANRIEXQM8CFWTu3wgJQlfjnfrayXHiPQcHu1oTe2yyov7xjLkTFZli6A86LFs3mXDNFG4VAl+JPpjaG4J3/946PKYu+eByoK5mqn9b0JZz7LZoOpI4c4RGb7yTQQosBUw/U4r8AtrwzhBhXiBGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XJQ9YZ4ZqAc8fiYdy9gQdK",
      "input": {
        "note": "The jug's white cap is now centred just below the jaws in the wrist view with the red cup straight ahead. Descending with jaws fully open so they pass either side of the cap onto the neck.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.44,
          "left_y": -0.23,
          "left_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01XJQ9YZ4ZqAc8fiYdy9gQdK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6708, 1.7653, 1.4067, -0.4191, -0.5434, -0.4618, 0.9988, -0.0147, 0.7986, 0.6083, -0.3847, -0.0109, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4344 left_y=-0.2236 left_z=0.1861 left_yaw=0.0203 left_pitch=-0.085 left_roll=0.0084 left_gripper=0.9988 right_x=0.295 right_y=0.0012 right_z=0.1797 right_yaw=0.0008 right_pitch=-0.0149 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -9.1966, 6.8991, 1.8437, -0.2906, -0.0317, -0.1392, -0.253, -1.0872, 7.0222, 1.707, -0.0659, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:525fd6aa9c87ba2346dd39218f470eec68f80a37a2b37cf6096d87fff8d33e0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f362a67482c9909665d55a1a644f0539b23ba6bfdb75d88901332f443c37e83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:155976ffabea560083eb84bd4169e3c422497d15ec18f2d53363066266fe1367",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 5.139 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4816, 1.5616, 1.4036, -0.4786, -0.4194, -0.3256, 0.9984, -0.0143, 0.7986, 0.6083, -0.3851, -0.0109, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4384 left_y=-0.1439 left_z=0.2593 left_yaw=0.0351 left_pitch=-0.0146 left_roll=-0.0263 left_gripper=0.9984 right_x=0.2949 right_y=0.0013 right_z=0.1796 right_yaw=0.0012 right_pitch=-0.0153 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -8.759, 9.5932, 1.6972, -0.1392, 0.1685, -0.0611, -0.2667, -1.2513, 7.0085, 1.7021, -0.0317, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6514, 1.7256, 1.6119, -0.6018, -0.5327, -0.4454, 0.9988, -0.0147, 0.7986, 0.6083, -0.3851, -0.0109, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4373 left_y=-0.2161 left_z=0.259 left_yaw=0.0203 left_pitch=-0.0412 left_roll=-0.0232 left_gripper=0.9988 right_x=0.2949 right_y=0.0012 right_z=0.1796 right_yaw=0.0008 right_pitch=-0.0153 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -8.2667, 8.9368, 1.4921, -0.3346, 0.0366, -0.1392, -0.0889, -1.2513, 7.0496, 1.7216, -0.0317, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6708, 1.7653, 1.4067, -0.4191, -0.5434, -0.4618, 0.9988, -0.0147, 0.7986, 0.6083, -0.3847, -0.0109, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4344 left_y=-0.2236 left_z=0.1861 left_yaw=0.0203 left_pitch=-0.085 left_roll=0.0084 left_gripper=0.9988 right_x=0.295 right_y=0.0012 right_z=0.1797 right_yaw=0.0008 right_pitch=-0.0149 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -9.1966, 6.8991, 1.8437, -0.2906, -0.0317, -0.1392, -0.253, -1.0872, 7.0222, 1.707, -0.0659, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:525fd6aa9c87ba2346dd39218f470eec68f80a37a2b37cf6096d87fff8d33e0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f362a67482c9909665d55a1a644f0539b23ba6bfdb75d88901332f443c37e83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:155976ffabea560083eb84bd4169e3c422497d15ec18f2d53363066266fe1367",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4ggKEAgRGAI4AUIIdGhpbmtpbmcSDFIdrFKNk/y001nHSRoM9FviHE+Ovey3AmIyIjDoyu3N0Xt+YY7qu1NNnfLdDf0V76L4M6r/yUsxSaEno1J5zUFb5x6ljzCidRtOWgMq/we9Wi8R2LOAx6STt7vy3gdCnIABdA5jYO6Zx0vS4+qwwNNJjwAJT4jFjU3IZ1uUbmWBIWHA3HU3rFICc7w/Ezj+cqAhhFrFgnX2e1a2AvDmMOonzFvzRl3+Aas/10+6l+6yBBHmhmM72VD98J0FeZjbbbrcMFGAIaM4tsc56wyXDP3YT3+1ks9mRmuUjc5QznRvF392WMBmogRkG6qtQD9S36HSSY5FOBBCbvL8yCnBi5BIyclUZhB0ADPM3Oe5mHN2PaWvYXj3rGBXdG8cFVkWfg7IOOxxS8EfbixSdBkZyw8YUTnwdHe6bupQyh1J/P8fLCaRyHe1+tMqBEcPdH0VPnOgWe4/b87E+O8o8L6G3txnlsB6PDFFe3e9KR7WFUzgQi6X2Sw3jgoFirGUJsdO/E+BcglnFetrUeHbscxZPj8kTubrhgJdyz4/UAJwcOo7wtdWbfaeXA2Q8hsARvuaxV4FhbRutABW2DszmDCz8VXPFKsDmE/LFMPGnHViRjMJvOyQ/RU6ZjIULtKtwajgyNajLoZW7PDxas1b6EzenamIZQT+L07xM/tOtiflsWiixYzgGWfxZeIynDhB9Q48LwNrr6ILuMHm1htw9dIdWbNY7TtScKMiR+I1mESOdFi0j4C97FqDD0g2uc1a50aujw5WF1tzWef3SjlZ5fsR2LLDuWQYGdTIfzJzYi3GZhxFkOVTDhxnpNFlDzygWw8oFB9k2VrJP5qCMQAgJXctB19UkK1Odcvp4qH6vjmmZQHvcZo8We77eLKBJp+yNRnhXcXmEtcieS33pwPEt/l6Eb6MmlcmlUeBXQ4RWdh7vqWBxXSUPzLWAlz4L52bz92WIpGdaSoxkw5XECLh8H4wOEPlxi0jN4dnOPvZbSS6Qjee67jjKfC5b0IggFDkhia/Xk0iUXGR067qBkTg9E9kZEMMg+LJrPr6bKEtNJMFjHgsUFL9E2ROHu2mxaP06DsY1fmktoRbZRAMKiqPZ34IYqCnXhNa0Qc330Kri7K2Cf2jAZYEkFScuFXzIAyE+wihJTn7IwZgHQFCgL03VOYhzl6OXp4fptFK6TDI8aLzrVyc7phOOSouz+RUjVXyx/XcD1ayPetJhONhKZXa4A/lzfqojQk5UYCdZn4jl7ugzhvyczWRsUGn0KUV4j4VZnvNk0t4xsqodnOrGFyva3qBGHgdAGCUL9vuZcRAiUpgiBm1HOuiMdiOabWUjdHKMRPc69D04/u8J0fhqaFwfKc99d3JbqOzg93SsPx0TirMied15Lt/6FA9KqCF42aLmUyP1jvKUxPD8JmmrcS8SpMpf6UTKpJa2D0p3/Lgduvei3nK1erL/qeotrC+/2c6ws4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017DfFqbTvzqH3gaFmo6jJRW",
      "input": {
        "note": "The jaws descended to z≈0.19 without stopping, so they should be around the jug's neck under the cap. Closing the gripper to grasp the neck.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_017DfFqbTvzqH3gaFmo6jJRW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6712, 1.7786, 1.3922, -0.3985, -0.5461, -0.4801, 0.4127, -0.0147, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4355 left_y=-0.2242 left_z=0.1775 left_yaw=0.0321 left_pitch=-0.0892 left_roll=-0.0002 left_gripper=0.4127 right_x=0.2949 right_y=0.0011 right_z=0.1796 right_yaw=0.0005 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.1162, -10.4957, 8.1299, 1.2772, -0.2369, 0.1392, 0.8913, -0.2256, -1.2513, 7.0496, 1.7021, -0.0269, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:236f22e4dc67cfa44330a2815ad197fb6afedd5cd701ed013d7c7c7b75af183f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e11fc5a56cda5dbbcd471f2bcb6abee702cb8382e4cefb4375d5afcee635bf4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:658656ea80b7d5ff0a903a27e662a9078ca54068fd542b22370bdc354484d861",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 18.72 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6514, 1.7256, 1.6119, -0.6018, -0.5327, -0.4454, 0.9988, -0.0147, 0.7986, 0.6083, -0.3851, -0.0109, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4373 left_y=-0.2161 left_z=0.259 left_yaw=0.0203 left_pitch=-0.0412 left_roll=-0.0232 left_gripper=0.9988 right_x=0.2949 right_y=0.0012 right_z=0.1796 right_yaw=0.0008 right_pitch=-0.0153 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -8.2667, 8.9368, 1.4921, -0.3346, 0.0366, -0.1392, -0.0889, -1.2513, 7.0496, 1.7216, -0.0317, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6708, 1.7653, 1.4067, -0.4191, -0.5434, -0.4618, 0.9988, -0.0147, 0.7986, 0.6083, -0.3847, -0.0109, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4344 left_y=-0.2236 left_z=0.1861 left_yaw=0.0203 left_pitch=-0.085 left_roll=0.0084 left_gripper=0.9988 right_x=0.295 right_y=0.0012 right_z=0.1797 right_yaw=0.0008 right_pitch=-0.0149 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -9.1966, 6.8991, 1.8437, -0.2906, -0.0317, -0.1392, -0.253, -1.0872, 7.0222, 1.707, -0.0659, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6712, 1.7786, 1.3922, -0.3985, -0.5461, -0.4801, 0.4127, -0.0147, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4355 left_y=-0.2242 left_z=0.1775 left_yaw=0.0321 left_pitch=-0.0892 left_roll=-0.0002 left_gripper=0.4127 right_x=0.2949 right_y=0.0011 right_z=0.1796 right_yaw=0.0005 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.1162, -10.4957, 8.1299, 1.2772, -0.2369, 0.1392, 0.8913, -0.2256, -1.2513, 7.0496, 1.7021, -0.0269, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:236f22e4dc67cfa44330a2815ad197fb6afedd5cd701ed013d7c7c7b75af183f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e11fc5a56cda5dbbcd471f2bcb6abee702cb8382e4cefb4375d5afcee635bf4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:658656ea80b7d5ff0a903a27e662a9078ca54068fd542b22370bdc354484d861",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1AYKEAgRGAI4AUIIdGhpbmtpbmcSDM37FyGkPI8Agx47vxoMfsGKOMqzz/FmahfzIjAwF6yYHpBiEJndJZBTir1IjXaTB41F7lXDkdF3SDw+cZ7wnfxXbJ+L8oAYI7RmZdUq8QVX0w5w8Y+QnXjN345rWL39Vxn6qWDR7CPIqrM/ufgPozzq9mwCTdi8mcp+9+IVsClRUYvpIB2FkphAdBxii7S8ZuA1sQr4fDq/WygoQuMxUCBPj+Nb9177A+vAsfyMBIJHTIoUXkAOukThIeLqCJ/MLlDge//P/P7lqjy3U3apDlL2iaWS5OwTnKZbtOcWV7q3K/M0PtF1ajL9w/oOcQZpN7PwAmM4oupO0O+EsVzS1O1fQ1iRpxv1WpMuSHy/MbWkvk8OJWDex6Hxc+o99yu5qn90hpJDUSZlIa7tX38NdzRCbOAEDk79UxD35CLfbou4WOwJnrwOcwto4BCvu5bVmxHbcFbNTq9ulZ+enGFoPj/+6HjrMD9Z0nFfb9EewSoFJEUvLTCyaW7dk9nfzZdVXOeQuHNo/qwQ2TAwCi28WdeHF23wbiLPiJN62zuCNsAKY0s8E5EuEJY8jtQXk+wZeD1IeIHOXkv7p/EbgWLqu/jCBqcD8JupIm0XJOWyAzgIUDlSPNoqjcdmPFY5r4rHVbo94JNlziX31awod2/tOvzJG6Da1XPH8oUKcsUgvUCsbNeg5+/lv0b/yVb0gv/2INRCE2HvC5TKVVHwdrg8pe+PzJmG7M7mlOo+c9rnwCqVA3aO7oq2RCl4trokPwt65iBGdUWEkqRyrMhnUfZq0jMRPcsQvsvH7sY6jtj0hIYFAhkw13jcveTWa53NTG8lTxYGe09agL1FP1nP7AK4IhnpeOHxrpnGu3OL0asHk2lfTp9OM7Xpcrza8KXa7usKG58LdxHuOzcNLTojyMtKdSXyIBIjRPem2fkayJOwS94qYgFjot+rgMkRlhOV/9MO+BVQqdn0+g6TkBrHPWVEAVE0vbfGOPrbg7TPYsCAf2iqDrRBL6NMOCWopFXYdYrYJxula9Lckpz3IJKWqFNg/1DnQQBByyCnMNRbjy0Y5JPlP3oNJ548VsnCQO3+FFqOK4+yBE+JPEd40ZA216MV4S0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014v4yLgwRh9hxDpYVusE7G4",
      "input": {
        "note": "Gripper settled at 0.41 (~4 cm), consistent with holding the jug's neck. Lifting ~7 cm to confirm the jug comes with the jaws.",
        "targets": {
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_014v4yLgwRh9hxDpYVusE7G4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6712, 1.7821, 1.6264, -0.6361, -0.5396, -0.49, 0.4134, -0.0143, 0.7986, 0.6083, -0.3847, -0.0109, -0.0257, 0.9994]\nstate[eef_state]: left_x=0.4365 left_y=-0.2262 left_z=0.2339 left_yaw=0.0329 left_pitch=-0.0974 left_roll=-0.0072 left_gripper=0.4134 right_x=0.295 right_y=0.0013 right_z=0.1797 right_yaw=0.001 right_pitch=-0.0149 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -9.3333, 9.0462, 1.5556, -0.2955, 0.0708, 0.1197, -0.1026, -1.2786, 7.2, 1.7998, -0.0317, -0.0317, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5505adaa5cf8a23fe95e2832f324c00baef4850731239398dddc36cf5678c5c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64c4decb0b33fb26f17e79c0a5337f27d5452d56fcd0dc2f38e7df2e0b28fd5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5b60206dce7fa75211bf2fe95398186d34053fe2f91aeb7fe57f4c86a9257d68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 37.8 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6708, 1.7653, 1.4067, -0.4191, -0.5434, -0.4618, 0.9988, -0.0147, 0.7986, 0.6083, -0.3847, -0.0109, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4344 left_y=-0.2236 left_z=0.1861 left_yaw=0.0203 left_pitch=-0.085 left_roll=0.0084 left_gripper=0.9988 right_x=0.295 right_y=0.0012 right_z=0.1797 right_yaw=0.0008 right_pitch=-0.0149 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -9.1966, 6.8991, 1.8437, -0.2906, -0.0317, -0.1392, -0.253, -1.0872, 7.0222, 1.707, -0.0659, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6712, 1.7786, 1.3922, -0.3985, -0.5461, -0.4801, 0.4127, -0.0147, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4355 left_y=-0.2242 left_z=0.1775 left_yaw=0.0321 left_pitch=-0.0892 left_roll=-0.0002 left_gripper=0.4127 right_x=0.2949 right_y=0.0011 right_z=0.1796 right_yaw=0.0005 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.1162, -10.4957, 8.1299, 1.2772, -0.2369, 0.1392, 0.8913, -0.2256, -1.2513, 7.0496, 1.7021, -0.0269, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6712, 1.7821, 1.6264, -0.6361, -0.5396, -0.49, 0.4134, -0.0143, 0.7986, 0.6083, -0.3847, -0.0109, -0.0257, 0.9994]\nstate[eef_state]: left_x=0.4365 left_y=-0.2262 left_z=0.2339 left_yaw=0.0329 left_pitch=-0.0974 left_roll=-0.0072 left_gripper=0.4134 right_x=0.295 right_y=0.0013 right_z=0.1797 right_yaw=0.001 right_pitch=-0.0149 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -9.3333, 9.0462, 1.5556, -0.2955, 0.0708, 0.1197, -0.1026, -1.2786, 7.2, 1.7998, -0.0317, -0.0317, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5505adaa5cf8a23fe95e2832f324c00baef4850731239398dddc36cf5678c5c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64c4decb0b33fb26f17e79c0a5337f27d5452d56fcd0dc2f38e7df2e0b28fd5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b60206dce7fa75211bf2fe95398186d34053fe2f91aeb7fe57f4c86a9257d68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSohgKEAgRGAI4AUIIdGhpbmtpbmcSDBg1+2AjmF31qlH7ZxoMaNsLaRwOIXvhNdoiIjCudEpSzFIXllra0QiDKIkINLPAgDqbqwrzDTO3SVDTJ/rC0xzjeZC1q3Onel3H8NUqvxcXZGsVjeeyy4AAHB2AAH0mcPkOlSXfJn/vYXtsnrAeCOue0FFA9Pr1afzGVQRKzsF7W8CKm/nbUUBGmeFEUxQbJeal8bTj2aw+w9XdhQV9JTubuRmrZ2al428yPNh37SDtXp2CTm/sZBAHniygu/+MDVdJRm7/eUrdU1M0gRMbcyJazumu53V3PcL1Zlp0sxM88stci67Mbu2GlbxM2dkPSTv+B2qrk0yD7t859mgBQw0ByPLQB6DnVv6eFw4NUR023hOJ3fy6+y7LBijXtMkjHWJnmEtvqMwUQb9tdbFlUE2FEN9gVm84tm9/vIT6BmfuoYfkQWnIQlpLubE4g2KXZ3/nlWwPewSD+JDfPAdk8UWkRVLqBeZPY5PI1PoYkUuhehBIp56jXk7seN24JDUT4n+ubQCT8zR8TX4JEYyn8a1uuah+jrHEBItHY2oJ4RT0VApqAJRDDvicN9rBPqeC0Rk3OVCoFxUjWbLiH3inw5gDllocCfHpZDtBhli3HtnlVnxgMPtH3WWJ1ogw6KmDF1lAuva4XLKMoc0cJQDOU5E8xseaOu54jDn4E0Z2pQREZd2brVbSNG1W4gvKf6mZLEfHln/j+l8yVdhP5NLIjEM1S6YFdsRFuR4snZaLIdGRpiG4Xth/uWh2MYDvaERQXLvPY6amcw088wupQpoCQ78SUhQ5odvEitZWgWWLOICw2cgxOoep0vrMRgEBPTjHW3vVyv/mLiZTX1tpM+0CaDpjuPk3ZaWnR8LHS+X4j4Ltj8nj9kTeTREJ6bDN6WADzISE8hRdDQYuhisItJWw12XLH8Ci30IHiX7h9a3e/OtxdQt3zGvPFd8OdWgMR2/32hqvJxyg8qSJERRT9j6ls+GfJ2Xfn4UIHR6+/LvCNF/H79PWze7mdMC5AK9uhdaaS1BcPNdB2TS/d5VMM0SXT/Ds4vgEADHudOZeR4teBrgVvo9p2mRRKSF9W56CQCmEGO5K8Qq4PQqPDLCdJw73QFNX9z6d2updUegZgXMBQ1icJ/6s7A7Wb63QuVQnuBtovecGj26vhMcL/ysCLrVU2Samzp9eu+Sfs/DOGkzp3vPm3tLEse6nPfzvR/3GSrp2GYo9q6lyJ9Qm5/00EYImogEHV49ct6n8XUe/xFQW4MLYMmhAlXy9mBAEDElxkr7nX6jTnB11Ox23tR3eyjzkXfofwk6IVVfT4vR2YXyHkMoSjNiHbSR/0p+x3ObvBL2eEnv7xMNS/GTcsMApi0tZJWB4g0f/NbvEsqFcrvEsIQHwW4MjvjNc22RMh70SjofqbMcBt0k4f6aPkgV1VpPYyG43kNJbrwBLapR7sHf8RiGyrxVvnWIyTxAqNoLX/qsZHQDjL2jBZQOJI6bCNcQxKeCD39kKOSykY6dLCBfnetJY+7dK/mTK00++XDhNnWWmB+p/fKU8dWBagrDOYQbtENxFvaLjERKGFOFejw3YxgrKcOmMBd7kn1mRw9a6ogazQkRwzHdAf7l4uVwB6hLujy2iKRfxONbHShXfi6JtQnKHmQN33yCOiyfDzi4rSCCTiOJCuLnv/Bs6PY5j0eLKKCirUPTX5FXnmgB49m1oJKdiKcJmTCuzt2gf4nr0zI0zoNee5Ke4UY0jxuiKWlsfH23AFTWd0B6XdjOTASjDw+4pJbF5ja+PakwPVBGJJwPJLtK/R0P0Z5wG+xa0CUqHXHanwH2bNLf7DAcqwfUgq1ZU9+suR4MAM7LSrbGe9A45ituMtHOpHDerGD6eO15jeDCjyKDSVy4su5lY+bNCEiAyuYtZN8un/IZqdDkUxZrMafk9aQKct8NN7IWMI/rcOvzF/HcJ8sOhOOiYIjBOabnfXr2YIZTqS84bHNQanpHH5v0ZN9UFXISKefg74ywzkadfbFYtSJt9bRTKb10V5Yh6Vf7LH7fYP0gZsAFsZ89cK1MJb2b+V7a151ailo6cH2hbDXjgAbtITFx/kjm+fQy0T7qvmDWQVA3Cn8SBL1BT1DaTkbpU+7Hfkv9xkBdlVUOJtPHTfkDoKbFSqGLl+nnlUSZvvnF4khzY2PSmDPZ38uMckJC0jDepBcMXlwhE+/SwKvhyg1h27pxvYmkyjxITERV9DCOMi5ShGjHPfSSd9dA4im8Dgsw28r8RXMhbVDYk2DV6EeCHefL4d6+pyioWe1NhoZ4b/3QGl4A+mZ9Xvz0ZilNq9WHsY+7bOcSgDeok4FPPhTgq53/Pq44MH4Fh0fsmtUdLPsoWBvUvhVY6eQWnIiwrDyAje2TSzaItYnC6cs4lNSmWRWJrIPMA2DhvAhLVAIo7xaGaX1l0X/+z6PIGp7cRb3eESP7CeX5lBtgizsfELGY0gM6k+tx1rdWJg24z/supD2HqJ5MEtEfKqbd8dlU1pcJcJOeVykVgHfHLwfQbumrDi7DTuZlYx3V/53rt8htSwA7ZmiQ9vdRYnTqM7uItUUKvqM9yJUaK2F0CDOh6z8EnN1iPOBjW0sl+QY/qhTaQuV7WWQjS52q0bv1Iit9zToqjALAL7cFj+h90RFXuhFNheczeUZsiQqCcIu3oLnByqTyi6naEvhYAPBCNbLDR+LPnxXiIGuGgEvZ+mQI66tvWbWzXlc9y9ePbF7v7ycq0PBtcj2UW6bfH1KCaF9fk43K0PAPTDTPfsYIBZb72g/THpL6rX5sedhb92tCPVpyLt47hiIYqq5XGz9YUlYDcOl52RFyJt6CqmUFMy8jVjjY6VLNZOoU+BLDmgnujjQlHbcu72BANkArnRMfFzVb7ueYH+Xt3BUs00AFYdCcPxMW4SMDOvWIav6oBlGsaqy/OtExDjIgNMqeSGWGmGaVAlpl2giAord/7PPw8o/pWYHTHU2NNzsJueziCJ3iuFGyv/CeoIEwsnuZlnOIWNyMYW2RRVhPPG8dgHuRLSttdyIJ2tbqP5KWo0v94ao5c1EDC7cmR1ERygno/YGxBFsztbb5QxW0fl+GqndtkWVJ6d+j3oW4oGeAtWcbQXOs1ovujFY/cUlFQAvUT3VUOm+yJO/hRQbvX2qquYsi6BrOzB0Xux/GzyduCMvFWV1Mp04f5EICxI/6Sgk7TRRTGNpE0kjQeWUKvA3xVXjeGg/jfeYpqYEtGH5OcxgKhvshEqF0CnoQDTWuWm0o4kF6e4y0MG5XNtD4sI71s6RBqBBIkuvUE5ltChyAPvpgM7RK54Innk21U7LM4SqLRBWh/CHaDCMGG2Zc6uuS1ISVTWaLfBNmZ/cotA825CKdWoSGqS0VqWBzvQOemrTLBv//10xDHhQml2k0cZyG+IAX8cPM4oJjXOo8riNtLk2aFrjcNxVjdQc6PU4xP5mKamiDdzOEuRlg9kweulBHz2xfc4QdqG0CnJAKI+6IpqKLfVZ50XO3+R2AITyNi94M5Tukftr33JtqTtYJvtWdvROovvKotbwM2ZpIBz8skreBMa3kIhmN0Cmf7HLeuu/GIMnpYk/dJxvppEcp9L+GoijB6S2EFh63zT7WGGaMr/I8dMOJVRpGwhZrvM2Fge9Ia6sfGvGicYDhb3w0cezq3eU8SWWdmfUAuwqkEdzeyKmD8w3QPwQrlpCMqj5V8JzK9uoptgiHUPitWxSZcke457PagHYyWOjGr7f0T/uYE47co6qBGj/f/YpAncENEcMQwppLDkuhMqInrbeC+nAoOw4AWFIgEbPwUkuoFFpxX1YFtYahANMsSmWHPaLhIQLiZfG1F17rW/CI1A1tHJPA1Hn+YzMqbL7O5c3F902pfLcuVPQTyPYGtU5BhQPqc/ehw4gAuISt/mdRKo+YLsQVOV4CHikCVcLiWggpa3JK2tHQBRMGy0glGZnhtVS8ZFCZQyO9CiWv04G5B0jkMfcTB3rNnvWoS9TeoSACMSZgEsHUc6t+AMEi6VHOOQBTGGyAp2n4yi8mGFadFz4zwelkdRy7vKrzIdAQjNA2ii+Ivw8w7vuLKnpcOIdHS1PPu97rGb4eYZLtml7+GTLaezoGxGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013id7efyF43work6rp8z8Gs",
      "input": {
        "note": "Lift readback rose ~6 cm but the top view is ambiguous about whether the jug came up; the wrist view suggests it may be hanging tilted in the jaws. Lifting further to make the jug's base visibly clear the table.",
        "targets": {
          "left_z": 0.31
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_013id7efyF43work6rp8z8Gs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6712, 1.8591, 1.9858, -0.9123, -0.5392, -0.4999, 0.4148, -0.0147, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4402 left_y=-0.2292 left_z=0.2989 left_yaw=0.0375 left_pitch=-0.0929 left_roll=-0.0193 left_gripper=0.4148 right_x=0.2949 right_y=0.0011 right_z=0.1796 right_yaw=0.0005 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -9.0462, 7.9658, 1.2039, -0.2515, 0.0464, 0.1294, -0.253, -1.1009, 7.1179, 1.7998, -0.0611, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aef5046f9f95a9bedec7d929befa9cccd9c068a0ddb69e6ca0d42c9d21234b0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12e2c2e6cf1e71b7685c5caaa6e6e96ec7cfe85344e433d1e8bbc08dab88fbf6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:13796e344574084d643fd5b3f4f21395eadd68443ba4416374460c27baf20ae5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /messages · status 200 · 16.08 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6712, 1.7786, 1.3922, -0.3985, -0.5461, -0.4801, 0.4127, -0.0147, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4355 left_y=-0.2242 left_z=0.1775 left_yaw=0.0321 left_pitch=-0.0892 left_roll=-0.0002 left_gripper=0.4127 right_x=0.2949 right_y=0.0011 right_z=0.1796 right_yaw=0.0005 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.1162, -10.4957, 8.1299, 1.2772, -0.2369, 0.1392, 0.8913, -0.2256, -1.2513, 7.0496, 1.7021, -0.0269, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6712, 1.7821, 1.6264, -0.6361, -0.5396, -0.49, 0.4134, -0.0143, 0.7986, 0.6083, -0.3847, -0.0109, -0.0257, 0.9994]\nstate[eef_state]: left_x=0.4365 left_y=-0.2262 left_z=0.2339 left_yaw=0.0329 left_pitch=-0.0974 left_roll=-0.0072 left_gripper=0.4134 right_x=0.295 right_y=0.0013 right_z=0.1797 right_yaw=0.001 right_pitch=-0.0149 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -9.3333, 9.0462, 1.5556, -0.2955, 0.0708, 0.1197, -0.1026, -1.2786, 7.2, 1.7998, -0.0317, -0.0317, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6712, 1.8591, 1.9858, -0.9123, -0.5392, -0.4999, 0.4148, -0.0147, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4402 left_y=-0.2292 left_z=0.2989 left_yaw=0.0375 left_pitch=-0.0929 left_roll=-0.0193 left_gripper=0.4148 right_x=0.2949 right_y=0.0011 right_z=0.1796 right_yaw=0.0005 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -9.0462, 7.9658, 1.2039, -0.2515, 0.0464, 0.1294, -0.253, -1.1009, 7.1179, 1.7998, -0.0611, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aef5046f9f95a9bedec7d929befa9cccd9c068a0ddb69e6ca0d42c9d21234b0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12e2c2e6cf1e71b7685c5caaa6e6e96ec7cfe85344e433d1e8bbc08dab88fbf6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13796e344574084d643fd5b3f4f21395eadd68443ba4416374460c27baf20ae5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TQ7ghssdzY56Prmtio7atX",
      "input": {
        "note": "The jug is now clearly lifted with the gripper (wrist view of it unchanged through the lift). Carrying it forward and slightly left so it ends up beside the red cup, ready to tilt toward the cup with wrist roll.",
        "targets": {
          "left_x": 0.5,
          "left_y": -0.16,
          "left_z": 0.32
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01TQ7ghssdzY56Prmtio7atX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.453, 1.9484, 2.1376, -0.9615, -0.3908, -0.3714, 0.4149, -0.0143, 0.7986, 0.6079, -0.3851, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4931 left_y=-0.1612 left_z=0.2997 left_yaw=0.0703 left_pitch=-0.1419 left_roll=-0.0117 left_gripper=0.4149 right_x=0.2949 right_y=0.0012 right_z=0.1794 right_yaw=0.0009 right_pitch=-0.0156 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [0.3214, -10.3726, 8.8957, 1.6093, -0.1636, 0.2466, 0.0024, -0.0889, -1.2923, 7.0632, 1.7216, -0.0317, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:393fadabad95cc8e39f2ccc6e78413256b119c1064382181baf61715fc556493",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e315b91cb1ad25a9d8023873c566f91591fd639f032bb9f37f96eab0fe33da66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8876d92926fde8753470d3848b7175a30d0aae476d5a9aa40ffb62d311e12b00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 9.795 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6712, 1.7821, 1.6264, -0.6361, -0.5396, -0.49, 0.4134, -0.0143, 0.7986, 0.6083, -0.3847, -0.0109, -0.0257, 0.9994]\nstate[eef_state]: left_x=0.4365 left_y=-0.2262 left_z=0.2339 left_yaw=0.0329 left_pitch=-0.0974 left_roll=-0.0072 left_gripper=0.4134 right_x=0.295 right_y=0.0013 right_z=0.1797 right_yaw=0.001 right_pitch=-0.0149 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -9.3333, 9.0462, 1.5556, -0.2955, 0.0708, 0.1197, -0.1026, -1.2786, 7.2, 1.7998, -0.0317, -0.0317, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6712, 1.8591, 1.9858, -0.9123, -0.5392, -0.4999, 0.4148, -0.0147, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4402 left_y=-0.2292 left_z=0.2989 left_yaw=0.0375 left_pitch=-0.0929 left_roll=-0.0193 left_gripper=0.4148 right_x=0.2949 right_y=0.0011 right_z=0.1796 right_yaw=0.0005 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -9.0462, 7.9658, 1.2039, -0.2515, 0.0464, 0.1294, -0.253, -1.1009, 7.1179, 1.7998, -0.0611, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.453, 1.9484, 2.1376, -0.9615, -0.3908, -0.3714, 0.4149, -0.0143, 0.7986, 0.6079, -0.3851, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4931 left_y=-0.1612 left_z=0.2997 left_yaw=0.0703 left_pitch=-0.1419 left_roll=-0.0117 left_gripper=0.4149 right_x=0.2949 right_y=0.0012 right_z=0.1794 right_yaw=0.0009 right_pitch=-0.0156 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [0.3214, -10.3726, 8.8957, 1.6093, -0.1636, 0.2466, 0.0024, -0.0889, -1.2923, 7.0632, 1.7216, -0.0317, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:393fadabad95cc8e39f2ccc6e78413256b119c1064382181baf61715fc556493",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e315b91cb1ad25a9d8023873c566f91591fd639f032bb9f37f96eab0fe33da66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8876d92926fde8753470d3848b7175a30d0aae476d5a9aa40ffb62d311e12b00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Tw5AxF6oaDTgozkxFMPmpt",
      "input": {
        "note": "Top view shows the jug held just over the red cup, which sits at roughly x≈0.51, y≈-0.17. Moving the jug 6 cm to the left of the cup and lowering so that rolling the wrist will tip the jug's mouth over the cup.",
        "targets": {
          "left_x": 0.51,
          "left_y": -0.11,
          "left_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Tw5AxF6oaDTgozkxFMPmpt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.329, 1.832, 1.8023, -0.6144, -0.308, -0.3275, 0.4163, -0.0143, 0.7986, 0.6079, -0.3847, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.5159 left_y=-0.1158 left_z=0.2767 left_yaw=0.0975 left_pitch=-0.0517 left_roll=-0.0838 left_gripper=0.4163 right_x=0.2949 right_y=0.0012 right_z=0.1795 right_yaw=0.0009 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [0.212, -7.8838, 4.5744, 0.4957, -0.232, 0.5543, 0.1294, -0.0068, -1.2513, 7.0632, 1.7753, -0.0562, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f0a7f7e7d6ce174d6bc86c59442b91eca82038d9eda2bc964bfd3491689fa6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6dfb21e062acd4488c434a8d176cf744a9e06cb431bf41fa3d82d727ca401df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9eaf5531a307c5bb25a1b0ab8fee2831fe091f58b53a5755824c46881ca9b3b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 11.31 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6712, 1.8591, 1.9858, -0.9123, -0.5392, -0.4999, 0.4148, -0.0147, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4402 left_y=-0.2292 left_z=0.2989 left_yaw=0.0375 left_pitch=-0.0929 left_roll=-0.0193 left_gripper=0.4148 right_x=0.2949 right_y=0.0011 right_z=0.1796 right_yaw=0.0005 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -9.0462, 7.9658, 1.2039, -0.2515, 0.0464, 0.1294, -0.253, -1.1009, 7.1179, 1.7998, -0.0611, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.453, 1.9484, 2.1376, -0.9615, -0.3908, -0.3714, 0.4149, -0.0143, 0.7986, 0.6079, -0.3851, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4931 left_y=-0.1612 left_z=0.2997 left_yaw=0.0703 left_pitch=-0.1419 left_roll=-0.0117 left_gripper=0.4149 right_x=0.2949 right_y=0.0012 right_z=0.1794 right_yaw=0.0009 right_pitch=-0.0156 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [0.3214, -10.3726, 8.8957, 1.6093, -0.1636, 0.2466, 0.0024, -0.0889, -1.2923, 7.0632, 1.7216, -0.0317, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.329, 1.832, 1.8023, -0.6144, -0.308, -0.3275, 0.4163, -0.0143, 0.7986, 0.6079, -0.3847, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.5159 left_y=-0.1158 left_z=0.2767 left_yaw=0.0975 left_pitch=-0.0517 left_roll=-0.0838 left_gripper=0.4163 right_x=0.2949 right_y=0.0012 right_z=0.1795 right_yaw=0.0009 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [0.212, -7.8838, 4.5744, 0.4957, -0.232, 0.5543, 0.1294, -0.0068, -1.2513, 7.0632, 1.7753, -0.0562, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f0a7f7e7d6ce174d6bc86c59442b91eca82038d9eda2bc964bfd3491689fa6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6dfb21e062acd4488c434a8d176cf744a9e06cb431bf41fa3d82d727ca401df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9eaf5531a307c5bb25a1b0ab8fee2831fe091f58b53a5755824c46881ca9b3b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS+wkKEAgRGAI4AUIIdGhpbmtpbmcSDL4w0gBsjq+QNaO11xoMg3+seiJ06kBQ62+dIjBqJZONELIKm+W76pYe5LMtbxUy0OvOFhI5NAis0VOAwTBA5aT/OZFPzJkPah3Kdh0qmAnMyt5s0bP574LxJpB/gFZR25/r1akDQXNp5eLuWc4O9yjwqcRBzbDk5i/8ZgM8rEjwndqEjgQabwN7s9nIKZLNCrn3q14Mrb680jhvDiGAVocO6hFSwMyL5EBnrqPnM5F5mflVY3dVgiupHxxuKPN2B5PsVRJ7RiChfQ5+qivLhIK3A6mWeanQ/5/X0xV84NW5UESIrIb2imujIoxcrxr8o7UfTHW9CfYoKMff5SfwTD44hwK7CkN9K9S8q2mFSOAHMRSccKFpA54ELHGiI+YlGuddpGdM7AgXoo3uW8kMKCJLzrWrOzrt8AqS+H1st9mrDCYaJRNUnbR7pHrY7V2qa0k41ik46Bs1STxeNhL/QLIUb5O7DEYRFFNpuPo8ZkVpMoP1uTo2aPY9yVb1EEQwugg3bcYbSFkxXhk9s/YgEU9BTBwUr+6P3qhlDj8k+xly5SR46cUHdu81HSOTHD6ZTAHV7Eg69egPBIbHqdH8zrg8miP28RoYwH8TahueIo2CCGm9DfCcuptYW8PvHUdwlnampCicfuA/cgUU9w67z6Fyet2sMMpM4wVikzcZ40h2//Bsxhn5uqT0DAt0YWFwzWyZcRqLXZo8hMIy54J4AnPl3e8RfAeCSTecVIphWJoh7S7QC7RTemAVsfT+AFmDyEmUMkg8YT1BrTTlg98TF/gKY2jtH9AonUU8B8g1qTCRkDrkB1LJzky4nj9mRiLSx9NPlItqg+m5Ow4uziXMdnQGI87z4XFUIthU0b8Vw4chkg+shw/FgphufarauHZangU/sujoBLSco0hVl8ctrR8Ynt5uW/5NBEEHpg3weVg3h0zi0s+TP6LmfrsqRKret5Dy+I/K/kyTKeM8a8BEBt+SN0mbHPmelQkw0UE+ijLolvArizvzO8QccKq4aXqgpRjg6GP72+2wIIUcXKqn90tobs1iXmdUqCfBom/1secipPv+0EXKpO6AfrYJqWRYviSnnYM6CZYPoZ75VvWeAOZumNuZ+1f/JFzEgUqvlRkZkUwX+TVpBK5YUEKPBMatHc167PgZvwIQtRzB/DpcPsC8/Lgazg4mlAnHupzy5TBT8z28Z4AhH+jFgx9IyLOUElit5LQsYqQvQXwbOnRINu+HGaPn05JIKgZa3gY8gTgx6Dg20esnPPpUEk0hL9jPw7oALHx8eX9fe4v1T3mIB0p3cjZhutgFKw4hp9gE9xPaslR9KI8BZYjxU8E6/9ClgZUFKB1cw0px9pOJHZcvwYBSQK0V+wKkVXCKaej4r1qkdxA6vfSVi8FFKtlJxMEEXXozZVzjaX7NqGPKDxx5PhzYxZm65wwyvRdoRw7z4aqWBpRX5EqMIP+6SwRiXE4CGqv6bayCeNhM1F8S5ks4KWmRpDykg4rt/JuTZyjzEleKU6GHySrdOxbLPIFt2EB3ZsYC+h8ub3G2cyHS6AP/WgHKIdoPuH6FR/P56qkK4G4/8w7nlu77JnR8r4Gr+w+t8kDGGaWfrF3M21psMOAd3Ig2JZueULMkgk4gGk/xsNDgtGq968XZ0bDI815RdWSaCKL3N/IpB0wYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Tn7Cg9sSyCJ3brBnmosuko",
      "input": {
        "note": "Descent stopped at z≈0.28 with the jug apparently resting on the red cup's rim in the top view, so the cup is further left than estimated. Lifting the jug clear and moving it another 5 cm left of the cup.",
        "targets": {
          "left_x": 0.51,
          "left_y": -0.06,
          "left_z": 0.33
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Tn7Cg9sSyCJ3brBnmosuko",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3153, 1.8286, 1.7779, -0.5591, -0.2905, -0.3134, 0.4164, -0.0143, 0.7986, 0.6079, -0.3851, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.522 left_y=-0.1133 left_z=0.2779 left_yaw=0.0886 left_pitch=-0.0238 left_roll=-0.0954 left_gripper=0.4164 right_x=0.2949 right_y=0.0012 right_z=0.1794 right_yaw=0.0009 right_pitch=-0.0156 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -8.3897, 4.4239, 0.8718, -0.1294, 0.3346, -0.0073, -0.1026, -1.0872, 7.2821, 1.7021, -0.022, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f7e2cae791dcfea8b8e932045168c6cf756b1ab53bb9521984df1d57b992484",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ce68ab22b9728a90efe3052f4ec624621f7ed7287ca8aee423d05b02405203e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0f7fef63e6045ddebc59fbb8f9f4c167e17cfbfa81962467a602608b5f9054dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 9.453 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.453, 1.9484, 2.1376, -0.9615, -0.3908, -0.3714, 0.4149, -0.0143, 0.7986, 0.6079, -0.3851, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4931 left_y=-0.1612 left_z=0.2997 left_yaw=0.0703 left_pitch=-0.1419 left_roll=-0.0117 left_gripper=0.4149 right_x=0.2949 right_y=0.0012 right_z=0.1794 right_yaw=0.0009 right_pitch=-0.0156 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [0.3214, -10.3726, 8.8957, 1.6093, -0.1636, 0.2466, 0.0024, -0.0889, -1.2923, 7.0632, 1.7216, -0.0317, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.329, 1.832, 1.8023, -0.6144, -0.308, -0.3275, 0.4163, -0.0143, 0.7986, 0.6079, -0.3847, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.5159 left_y=-0.1158 left_z=0.2767 left_yaw=0.0975 left_pitch=-0.0517 left_roll=-0.0838 left_gripper=0.4163 right_x=0.2949 right_y=0.0012 right_z=0.1795 right_yaw=0.0009 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [0.212, -7.8838, 4.5744, 0.4957, -0.232, 0.5543, 0.1294, -0.0068, -1.2513, 7.0632, 1.7753, -0.0562, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3153, 1.8286, 1.7779, -0.5591, -0.2905, -0.3134, 0.4164, -0.0143, 0.7986, 0.6079, -0.3851, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.522 left_y=-0.1133 left_z=0.2779 left_yaw=0.0886 left_pitch=-0.0238 left_roll=-0.0954 left_gripper=0.4164 right_x=0.2949 right_y=0.0012 right_z=0.1794 right_yaw=0.0009 right_pitch=-0.0156 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -8.3897, 4.4239, 0.8718, -0.1294, 0.3346, -0.0073, -0.1026, -1.0872, 7.2821, 1.7021, -0.022, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f7e2cae791dcfea8b8e932045168c6cf756b1ab53bb9521984df1d57b992484",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ce68ab22b9728a90efe3052f4ec624621f7ed7287ca8aee423d05b02405203e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f7fef63e6045ddebc59fbb8f9f4c167e17cfbfa81962467a602608b5f9054dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GYfhZeCj8u2aSRy4natjfB",
      "input": {
        "note": "The arm is at its reach limit at x≈0.52 with the tool vertical, so the last target stalled. Pulling the jug back toward the base and left to regain reach margin before repositioning for the pour.",
        "targets": {
          "left_x": 0.46,
          "left_y": -0.08,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01GYfhZeCj8u2aSRy4natjfB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3153, 1.8286, 1.7771, -0.5587, -0.2905, -0.313, 0.4164, -0.0147, 0.7986, 0.6079, -0.3851, -0.0109, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.522 left_y=-0.1133 left_z=0.2776 left_yaw=0.0884 left_pitch=-0.0241 left_roll=-0.0949 left_gripper=0.4164 right_x=0.2949 right_y=0.0012 right_z=0.1794 right_yaw=0.0008 right_pitch=-0.0156 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -8.4444, 4.5197, 0.862, -0.188, 0.3297, -0.0122, -0.2393, -1.1692, 7.0496, 1.7021, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c1a91e728f42ec1d49f5d8ea67d862b2638e02f97d5ba2e6b652a46fcd5dfc3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:308b2c843033c052876da92b377053a5bc20d0737011a18fea823bd41feb7d4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c54bf06158f336f512059d7551ffc66703908ed2a006d795eb732aa0026d319b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 30 attempt 0 · /messages · status 200 · 24.88 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.329, 1.832, 1.8023, -0.6144, -0.308, -0.3275, 0.4163, -0.0143, 0.7986, 0.6079, -0.3847, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.5159 left_y=-0.1158 left_z=0.2767 left_yaw=0.0975 left_pitch=-0.0517 left_roll=-0.0838 left_gripper=0.4163 right_x=0.2949 right_y=0.0012 right_z=0.1795 right_yaw=0.0009 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [0.212, -7.8838, 4.5744, 0.4957, -0.232, 0.5543, 0.1294, -0.0068, -1.2513, 7.0632, 1.7753, -0.0562, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3153, 1.8286, 1.7779, -0.5591, -0.2905, -0.3134, 0.4164, -0.0143, 0.7986, 0.6079, -0.3851, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.522 left_y=-0.1133 left_z=0.2779 left_yaw=0.0886 left_pitch=-0.0238 left_roll=-0.0954 left_gripper=0.4164 right_x=0.2949 right_y=0.0012 right_z=0.1794 right_yaw=0.0009 right_pitch=-0.0156 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -8.3897, 4.4239, 0.8718, -0.1294, 0.3346, -0.0073, -0.1026, -1.0872, 7.2821, 1.7021, -0.022, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3153, 1.8286, 1.7771, -0.5587, -0.2905, -0.313, 0.4164, -0.0147, 0.7986, 0.6079, -0.3851, -0.0109, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.522 left_y=-0.1133 left_z=0.2776 left_yaw=0.0884 left_pitch=-0.0241 left_roll=-0.0949 left_gripper=0.4164 right_x=0.2949 right_y=0.0012 right_z=0.1794 right_yaw=0.0008 right_pitch=-0.0156 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -8.4444, 4.5197, 0.862, -0.188, 0.3297, -0.0122, -0.2393, -1.1692, 7.0496, 1.7021, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c1a91e728f42ec1d49f5d8ea67d862b2638e02f97d5ba2e6b652a46fcd5dfc3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:308b2c843033c052876da92b377053a5bc20d0737011a18fea823bd41feb7d4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c54bf06158f336f512059d7551ffc66703908ed2a006d795eb732aa0026d319b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqQwKEAgRGAI4AUIIdGhpbmtpbmcSDNeqQ70N9BkbCZWPGxoM/sQjLbMcuOqkSvU1IjAU9Murjj+388cfadlZBj0fLWm1o0ug2MEZH/a9Esm39jg9As7NRvvsX67GGEkz4cYqxgsrzkZT4gTtBmztI1icjFkeUcov4SC97e9RZLaPC0YasXedBcIZtmU2X1SIRhOXIkeHenoPEEajRnI5NbLnfSw/cVfUnvCZdsqwKwx7k1jM0N3Y6bwc6/i5kV6frD5UYyw88tueorBhmycENoMRAjAlRUr0c5qeALtKFO1TQTEM8pd9ZZiX32qSrnGS5f5roEgL894w824z1Nl0xOmryMNKFtput9rVX9i0gYmqy/GtQWX+KtU0L4VEK1Lkbn+kUj2fgDoM7XLYaKh5RD30B12uIxKeLRe6w50y6KRjVDJ+OLx9V+lOmYKceme6loYOuHz+1HdRVL0uZrJ4b51QRyCYZwabfh5m6e5Z9ueVDchrEWpctrlwZ9p/pTVvfP52kXE6nPsMKZp1QVZpAfBzAOUeyIkL7U/tP5eJU9hUXSQQo0mLhApxsL4DxB64qZMtUa1/QT4TevCsq99DCJUBUFgTEm1rJOqA3LIbUkpZnri+66rN+wX/n8c/5WY083PRnLbTRTklPJpeq9plvkQTDYzRZT84EzFvm6HOBnRtvW9azrzP9tVpwmQeY72xd6h71fPI5CW5R7CtVyUEz9RaleY4dzekKvgR8j96XW6XdcOAh/Uz9u7hITkA3X3XszYFl+DwsV2KSNWNOgcKdtaRIUWvej+Yng40vOVjVpvBhH6zw0l2+PSgzTvG4Zt5HD8jCPPKsuQilu12iDmw2NtK5LJZ0/9PfbWeGPCE+4knxWqAuxJtHXbVsHA5VoZxyTZhbVW72H7U0U/dXVDE1cz0nkbTZt9Imu48zMJIV0E/9Q/G72QQWt82W6RW2qhmyUxbi+TjhXICTBbADad9EPpoV8XytOK8HPs0l+sdeka1ViKG9GoSYChsr13XDcpMAOPunKrkVx2cN+eGw4J4MYBOnCjVzcrjJS7NAt5QcuQa/SCRrs7ycLDkBEKPYg0AjEtgGqcKQUEPM57FGcxD6Was/Aew4eFn3p5RZn0eGN9bQnCyo6lneeh4gaks93WhXZCpa2FP38DyuAaqVz5sQYJXjJrLoplrWd2zq07b20GbW9/Ql80PfGhi5P/V39BSCOZVhoAsl5Q6zfnlOo1IOQVDXbgpNBDCpM2y06a5eSTi2pKC1KZte0fuldDP+AvdzJ+xlMeCxLUxsh8uQly4gwmuWZ4cuQRk65sHIgsI1EK0H0TfKB4rBCMEDo61DwL5ROuZA0pG9j92zsx2fi/1dqrNv4+FA5DmGaX0SxAm/KtdUfdK2qzzFdKeK+mEtJ0Xy4plelSY9oHUr57tJRbdT7onI4x1mYXS6EJj7KLR//oLdYDOvTRz2fN09rhSJIuqlGNKK4Awhv3Yt4fxnWf5VkFBH6UqeLnLut2GLXn8EP5bsCDrSZZ8vxwZeowyFSmYONgMIgQBYV5e8P2662SfxAhTs+xZvOgpigfwA9eIfbHx/EzAhhw1nkreouFhyY5gI9o/SxFD/InnVHQEhNlWqJbYpTo1yoSKGPInHnaBVxFMKrJgbsZSechEGMhV1J7rV7SGsGE3tPSNxZFr4wghP4+waYZaoc+UNncRk8L4PvHqkBU/jr7Gh6NlwcBiGT+2sHZflwt8P0gowReg6kC4eGa5o9D/zNar33Sb+LQeosvaKqz5YhDx04efIaWp1pPOCYDxu41MkaLqrMGYN1XBuwO8AGTxmnEs3DnwkTu5tXZ+WTeeQz3n2ydWkOQm7it8ZcI4z15nPannZc6TBubbcvJA8P+BT4q/H9YNsj+VEqUoQv0wA14nDlgDssSYW7lnJpP68XwH8MDSPN95m+/adaa+NNIuCDTjPfU+vXY7mF3IzWRc3O8lZDVa5iBbX4puad7Qdz3h/iQYK/JxlPHJzEEww1js+HHMaghHxduPY+Qo3kb6w2jqz3x7Njl//zitXeD8pPxNf7yJupshYBK1278dqDv4Awr9eKtSfE+fZBijGMFka/tnrmyRaBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Azpg2kQbZHiVs4vU8eVqcZ",
      "input": {
        "note": "Still no motion; previously the arm unstuck when the orientation was re-specified explicitly. Re-sending the retreat target with yaw/pitch/roll set to zero.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.46,
          "left_y": -0.08,
          "left_yaw": 0.0,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Azpg2kQbZHiVs4vU8eVqcZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2684, 1.6093, 1.5478, -0.5652, -0.2481, -0.1986, 0.4164, -0.0147, 0.8005, 0.6079, -0.3847, -0.0109, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4695 left_y=-0.0804 left_z=0.2793 left_yaw=0.0396 left_pitch=-0.0453 left_roll=-0.0173 left_gripper=0.4164 right_x=0.295 right_y=0.0012 right_z=0.179 right_yaw=0.0008 right_pitch=-0.0172 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [0.0205, -10.4547, 7.6513, 2.1368, -0.0024, 0.1197, -0.0122, -0.294, -1.3607, 7.0359, 1.79, -0.0464, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1864836340b0014acb3374d099465e8a9b5c5995372e70bf89ece1c25b7e6471",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:829ec841bb36b0a174b5c4fa0b94e028f7317b5b0e107cc1c731d52aad2afbfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3727ceceb5d29010afdaf96dcdac4505d71cdfdc89ad4bac56bbf878765ee075",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 8.664 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3153, 1.8286, 1.7779, -0.5591, -0.2905, -0.3134, 0.4164, -0.0143, 0.7986, 0.6079, -0.3851, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.522 left_y=-0.1133 left_z=0.2779 left_yaw=0.0886 left_pitch=-0.0238 left_roll=-0.0954 left_gripper=0.4164 right_x=0.2949 right_y=0.0012 right_z=0.1794 right_yaw=0.0009 right_pitch=-0.0156 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -8.3897, 4.4239, 0.8718, -0.1294, 0.3346, -0.0073, -0.1026, -1.0872, 7.2821, 1.7021, -0.022, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3153, 1.8286, 1.7771, -0.5587, -0.2905, -0.313, 0.4164, -0.0147, 0.7986, 0.6079, -0.3851, -0.0109, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.522 left_y=-0.1133 left_z=0.2776 left_yaw=0.0884 left_pitch=-0.0241 left_roll=-0.0949 left_gripper=0.4164 right_x=0.2949 right_y=0.0012 right_z=0.1794 right_yaw=0.0008 right_pitch=-0.0156 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -8.4444, 4.5197, 0.862, -0.188, 0.3297, -0.0122, -0.2393, -1.1692, 7.0496, 1.7021, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2684, 1.6093, 1.5478, -0.5652, -0.2481, -0.1986, 0.4164, -0.0147, 0.8005, 0.6079, -0.3847, -0.0109, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4695 left_y=-0.0804 left_z=0.2793 left_yaw=0.0396 left_pitch=-0.0453 left_roll=-0.0173 left_gripper=0.4164 right_x=0.295 right_y=0.0012 right_z=0.179 right_yaw=0.0008 right_pitch=-0.0172 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [0.0205, -10.4547, 7.6513, 2.1368, -0.0024, 0.1197, -0.0122, -0.294, -1.3607, 7.0359, 1.79, -0.0464, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1864836340b0014acb3374d099465e8a9b5c5995372e70bf89ece1c25b7e6471",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:829ec841bb36b0a174b5c4fa0b94e028f7317b5b0e107cc1c731d52aad2afbfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3727ceceb5d29010afdaf96dcdac4505d71cdfdc89ad4bac56bbf878765ee075",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017dUdHnXCksGgifqvwFfD16",
      "input": {
        "note": "The jug (an open pitcher) is now held just left of the red cup, which sits at about x≈0.51, y≈-0.15. Edging forward and starting a positive wrist roll so the pitcher's mouth begins tipping toward the red cup.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.7,
          "left_x": 0.49,
          "left_y": -0.085,
          "left_yaw": 0.0,
          "left_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_017dUdHnXCksGgifqvwFfD16",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4099, 1.7149, 1.4639, -0.3931, -0.6529, 0.2897, 0.4165, -0.0147, 0.8024, 0.6079, -0.3847, -0.0109, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4831 left_y=-0.089 left_z=0.2443 left_yaw=-0.0096 left_pitch=-0.0572 left_roll=0.6187 left_gripper=0.4165 right_x=0.2952 right_y=0.0012 right_z=0.1784 right_yaw=0.0008 right_pitch=-0.0191 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -8.5675, 7.4735, 2.0098, -0.4274, 0.149, -0.0073, -0.3214, -1.4564, 7.0496, 1.7558, -0.022, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4f864d40f0fd7db8640e6120005b5535bff6f5737930041e1de47a1a2b5d79c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c143bfb8f85d9b8e75b9b36c5113fa1c402d5988199d1dbd280b73426c2b2be6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bc92f4dbf08e5df3dca3117eb068c8e4dca709b2624985797d6dbb94d7d14eef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 14.69 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3153, 1.8286, 1.7771, -0.5587, -0.2905, -0.313, 0.4164, -0.0147, 0.7986, 0.6079, -0.3851, -0.0109, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.522 left_y=-0.1133 left_z=0.2776 left_yaw=0.0884 left_pitch=-0.0241 left_roll=-0.0949 left_gripper=0.4164 right_x=0.2949 right_y=0.0012 right_z=0.1794 right_yaw=0.0008 right_pitch=-0.0156 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -8.4444, 4.5197, 0.862, -0.188, 0.3297, -0.0122, -0.2393, -1.1692, 7.0496, 1.7021, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2684, 1.6093, 1.5478, -0.5652, -0.2481, -0.1986, 0.4164, -0.0147, 0.8005, 0.6079, -0.3847, -0.0109, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4695 left_y=-0.0804 left_z=0.2793 left_yaw=0.0396 left_pitch=-0.0453 left_roll=-0.0173 left_gripper=0.4164 right_x=0.295 right_y=0.0012 right_z=0.179 right_yaw=0.0008 right_pitch=-0.0172 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [0.0205, -10.4547, 7.6513, 2.1368, -0.0024, 0.1197, -0.0122, -0.294, -1.3607, 7.0359, 1.79, -0.0464, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4099, 1.7149, 1.4639, -0.3931, -0.6529, 0.2897, 0.4165, -0.0147, 0.8024, 0.6079, -0.3847, -0.0109, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4831 left_y=-0.089 left_z=0.2443 left_yaw=-0.0096 left_pitch=-0.0572 left_roll=0.6187 left_gripper=0.4165 right_x=0.2952 right_y=0.0012 right_z=0.1784 right_yaw=0.0008 right_pitch=-0.0191 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -8.5675, 7.4735, 2.0098, -0.4274, 0.149, -0.0073, -0.3214, -1.4564, 7.0496, 1.7558, -0.022, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4f864d40f0fd7db8640e6120005b5535bff6f5737930041e1de47a1a2b5d79c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c143bfb8f85d9b8e75b9b36c5113fa1c402d5988199d1dbd280b73426c2b2be6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc92f4dbf08e5df3dca3117eb068c8e4dca709b2624985797d6dbb94d7d14eef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmAoKEAgRGAI4AUIIdGhpbmtpbmcSDIytA+SHJ7DXApEd5hoM2x+U2jfagyV1HEl3IjAqVFpEdrlvpuXP56ynuNK/n88cc5YzWdyGrF3hvRJi93ZbksTHbfTdRcTeMwZKIQQqtQkLs+JWkt/WCaOOsTy0C9dtw7l1FO7hEOQxolDieckwnXJcRPU5edc6b2uwwIyQp/793latebGzXxdlwaMipsycFr5TyAbGLH5XmYZqnKr2ahR0HfF9xnxhLUiOlJvulgDclM9Xdl5QQi9+XZJ4RBhGjSXBGVum9J8hIe3GpJktdj/krfx8XP6AYj/YhE0edqeqmj8MkcKYRksxQUOi4FzbQKHPivIRwOI4CmSHLx+G0bYYMEOobgdQwFwJEuTwVbQzZZo68KZRepe81w0RyRXVrLvHVpMDMLLHIFNBLSe4wf3uEulSDKqrZPM/qt1k27+XchSIvfEY2IMp8a1vJghTEfoRJ8UOiyUAXFxtX2lZDk+cyeBf75z7Wng7bECCOWo8qBPCupb6W64VKhMK/2vH89o+Wp16mv7hDeWOHAOy7khCIodkf+Gft7EhUGIZDHBNqULEDwQfRGkVmb69yF3bqI3HusH0PStzhBIaFlkgeGEKUtfgJOaw2bplRKIVeU85is28L10BODAfaYRaBOwH9ArCNRdf86+Wa99w+KXf7WocyGtieUS86/uymLjTtmE/ejR2/Dt6dkKjAGO3uzevxp0YVBz+ldpYUCcq1o/u3uCTspOcyevJrOyCeqGIozjg2wg3+y+qAn3kpShPmJ5Ju9sUxFPNQUFIpqTfUJFTs2hEU9UmFEAuSWFR5HV4aSUSzo6zvVe3Ff5n/h9OX9t1JA03UXPGgEZemea6X5FFW9iXJwb1cmfG3qxCla6I0JsVJ1ZfcmcIGYfHEqsJq9II2iXumwlnprhhv9dzG4GTh0evj+A0hFSUi+wClP7Ybv0Hlsfit1SubeK/CU6RcJoMQL2sndFgo7x6v2esbRDVOqjaZTziEz/hBD+GYi42h+YwmaaX+Dkyhgrm/H2dvuOHh00HaytyvhZn5Nq6cYujwI4XKx61kNhZXs/JTBXTg6h5bG9SdE/7yGj4XkX/LwKXZgmW6PYNLx8wQgdUj/fkuveVEjbP1xk7GKLVpT8pdAbAvNeXWki/cjFv0dxV9oCht8jE1qahurVf2E2BY60ru0ahIz7+ZrQiaV+vjhrHdzMMOUYNu9KRWgL9AFi02padLRvncf65MQn+KxliudUIa5G0wOAqLkjTfvOD6Y5sJTViXCGDnmOdtriCT8ajATQSl1KL7+v/a8eGEjFkscenLibdUHfffGI1zLtEIRIY+opugwql6jYjpOPbe8EP5wIkQsXci5/Dfd17EeRY5Cix0ouxCwxlEqHN1+dPD6UHMehTep9LmFmZKAsysG1wrQKdltihVWyLkaRz0cv/AExQjEIy1YwNYQ24y5PMr/WxWrcz1utg0L9oKesmZs8xxBfF7d+EbNK9Rz9a/FMHK9TiPMQ5OYxS/6u0Uoyo8pGAVzTZm2VmkHP/KXqVK8dL0+J/kbn9cadP1uEAgVzAsY+r25FqbjEECf7mSqYEYuDdPO/IWFqH2ERjlpAEjzyzfY+OQe85SYtwDSeznqm0Jlc6MAL9cKfU9OQv9CAsZSZ3+1yi2qxVaBD+tatNHUyBuHOjCO9FGnT77nNyxG6E4H8WPQpxNrcNMeoFVAlv0PPX/NjxD4IGLxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016a5FmQ4hktvtPzSBEGgwUT",
      "input": {
        "note": "The pitcher is tilting toward the red cup, whose rim is visible right beside the pitcher's mouth in the wrist view. Completing the roll to ~80° so the pitcher pours into the red cup.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 1.4,
          "left_x": 0.49,
          "left_y": -0.085,
          "left_yaw": 0.0,
          "left_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_016a5FmQ4hktvtPzSBEGgwUT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4873, 1.7821, 1.2148, 0.2272, -0.9962, 1.111, 0.4165, -0.0147, 0.8024, 0.6079, -0.3847, -0.0109, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4873 left_y=-0.0864 left_z=0.2339 left_yaw=-0.0177 left_pitch=-0.0719 left_roll=1.3314 left_gripper=0.4165 right_x=0.2952 right_y=0.0012 right_z=0.1784 right_yaw=0.0008 right_pitch=-0.0191 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.5265, -8.9641, 7.747, 2.044, -0.5055, 0.1294, -0.0122, -0.3761, -1.0188, 7.0359, 1.7314, -0.022, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf249f2da2b327f9fdddcaea5452dafd17f468df654f03a53eaf3e2f50dc7eff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70e1e88fc3d2b11857d341f5f2744cdf5524c8d03b93b52bad08e7dfa2aad626",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7b4bf6902116f6d36f6b5342fd1eeb067e4acee1a41b328f88d54a1c33ca9f0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 6.626 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2684, 1.6093, 1.5478, -0.5652, -0.2481, -0.1986, 0.4164, -0.0147, 0.8005, 0.6079, -0.3847, -0.0109, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4695 left_y=-0.0804 left_z=0.2793 left_yaw=0.0396 left_pitch=-0.0453 left_roll=-0.0173 left_gripper=0.4164 right_x=0.295 right_y=0.0012 right_z=0.179 right_yaw=0.0008 right_pitch=-0.0172 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [0.0205, -10.4547, 7.6513, 2.1368, -0.0024, 0.1197, -0.0122, -0.294, -1.3607, 7.0359, 1.79, -0.0464, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4099, 1.7149, 1.4639, -0.3931, -0.6529, 0.2897, 0.4165, -0.0147, 0.8024, 0.6079, -0.3847, -0.0109, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4831 left_y=-0.089 left_z=0.2443 left_yaw=-0.0096 left_pitch=-0.0572 left_roll=0.6187 left_gripper=0.4165 right_x=0.2952 right_y=0.0012 right_z=0.1784 right_yaw=0.0008 right_pitch=-0.0191 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -8.5675, 7.4735, 2.0098, -0.4274, 0.149, -0.0073, -0.3214, -1.4564, 7.0496, 1.7558, -0.022, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4873, 1.7821, 1.2148, 0.2272, -0.9962, 1.111, 0.4165, -0.0147, 0.8024, 0.6079, -0.3847, -0.0109, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4873 left_y=-0.0864 left_z=0.2339 left_yaw=-0.0177 left_pitch=-0.0719 left_roll=1.3314 left_gripper=0.4165 right_x=0.2952 right_y=0.0012 right_z=0.1784 right_yaw=0.0008 right_pitch=-0.0191 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.5265, -8.9641, 7.747, 2.044, -0.5055, 0.1294, -0.0122, -0.3761, -1.0188, 7.0359, 1.7314, -0.022, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf249f2da2b327f9fdddcaea5452dafd17f468df654f03a53eaf3e2f50dc7eff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70e1e88fc3d2b11857d341f5f2744cdf5524c8d03b93b52bad08e7dfa2aad626",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b4bf6902116f6d36f6b5342fd1eeb067e4acee1a41b328f88d54a1c33ca9f0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015AYcBbHVF93tEhgayLEuxc",
      "input": {
        "note": "The pitcher is tipped nearly horizontal with its mouth over the red cup — the first pour is done. Rolling the pitcher back upright and pulling it slightly back before setting it down.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.47,
          "left_y": -0.08,
          "left_yaw": 0.0,
          "left_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_015AYcBbHVF93tEhgayLEuxc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2668, 1.626, 1.4578, -0.4862, -0.2913, -0.0776, 0.4179, -0.0143, 0.8032, 0.6079, -0.3851, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4736 left_y=-0.0732 left_z=0.2482 left_yaw=0.0134 left_pitch=-0.0682 left_roll=0.1144 left_gripper=0.4179 right_x=0.2952 right_y=0.0012 right_z=0.1782 right_yaw=0.0009 right_pitch=-0.0202 right_roll=-0.0007 right_gripper=0.9994\nstate[joint_eff]: [0.1983, -11.3846, 8.9094, 1.7509, -0.0757, -0.0464, 0.1392, -0.0752, -1.388, 7.1316, 1.7216, -0.0269, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:198aba70c58ef4bce6c4432ed628e33e89e9f6ed5a34d0b8d4dc7bec8cd90287",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:109792be50eea26ba2934301f7b1fdc1c8bb48482da209448e558fb99e8c6e65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:405a4f3fa515161fc9f46a845ccd3edc93ab10b39aa80d917bb006b509fe13d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 34 attempt 0 · /messages · status 200 · 5.01 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4099, 1.7149, 1.4639, -0.3931, -0.6529, 0.2897, 0.4165, -0.0147, 0.8024, 0.6079, -0.3847, -0.0109, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4831 left_y=-0.089 left_z=0.2443 left_yaw=-0.0096 left_pitch=-0.0572 left_roll=0.6187 left_gripper=0.4165 right_x=0.2952 right_y=0.0012 right_z=0.1784 right_yaw=0.0008 right_pitch=-0.0191 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -8.5675, 7.4735, 2.0098, -0.4274, 0.149, -0.0073, -0.3214, -1.4564, 7.0496, 1.7558, -0.022, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4873, 1.7821, 1.2148, 0.2272, -0.9962, 1.111, 0.4165, -0.0147, 0.8024, 0.6079, -0.3847, -0.0109, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4873 left_y=-0.0864 left_z=0.2339 left_yaw=-0.0177 left_pitch=-0.0719 left_roll=1.3314 left_gripper=0.4165 right_x=0.2952 right_y=0.0012 right_z=0.1784 right_yaw=0.0008 right_pitch=-0.0191 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.5265, -8.9641, 7.747, 2.044, -0.5055, 0.1294, -0.0122, -0.3761, -1.0188, 7.0359, 1.7314, -0.022, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2668, 1.626, 1.4578, -0.4862, -0.2913, -0.0776, 0.4179, -0.0143, 0.8032, 0.6079, -0.3851, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4736 left_y=-0.0732 left_z=0.2482 left_yaw=0.0134 left_pitch=-0.0682 left_roll=0.1144 left_gripper=0.4179 right_x=0.2952 right_y=0.0012 right_z=0.1782 right_yaw=0.0009 right_pitch=-0.0202 right_roll=-0.0007 right_gripper=0.9994\nstate[joint_eff]: [0.1983, -11.3846, 8.9094, 1.7509, -0.0757, -0.0464, 0.1392, -0.0752, -1.388, 7.1316, 1.7216, -0.0269, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:198aba70c58ef4bce6c4432ed628e33e89e9f6ed5a34d0b8d4dc7bec8cd90287",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:109792be50eea26ba2934301f7b1fdc1c8bb48482da209448e558fb99e8c6e65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:405a4f3fa515161fc9f46a845ccd3edc93ab10b39aa80d917bb006b509fe13d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS/QcKEAgRGAI4AUIIdGhpbmtpbmcSDC6ZCSzBPA5/JwTKQhoMhOQuzqVUR7WU66wjIjC3FqKbxcUP8GJE46Tscr7nEmJl5t9xa8sgEQMJRRCE8rmxUA4V08A11oFtahz/5Ncqmgea35ZqhrXWdQEDZf1z/M537FO3c6hlGQRwWrhhSjj+AEZAmxGqUsfvvbWhIuK5KkpdXdf8dP+/SExfUHzAWZwrGmPAZSKREeOfoABbZJ/jKSURzn2zf5JlEWxzccphBI2nrkWmOi3QgiYodfw8Rx1gX/VG+u1GD/JauBlFq77YxgQn2njfBGAkH/QmsksNGQt951oggq2Como+xHn9DR8fioAwenvsIj/OS0oQbrDemNBux6IjQjoekK1sr4LsYKBL/4AbK0VAP890aEmvpo322HCjk7cswypUq7I2Q2Sfi+2pszIdg9HkdQc18ahlMxgG7nAEhRCbXqQ2YDNUIU/LCpUsN8WsSb4gt+Z7CGgSiwZ2w0mKYTVV0lg+xnUTpKgG/JlaM5X7dJkl9K+R2bdG9c0L8QDsuYSR+nff7moHVm6W/jxOEi4aLanlHsVnd284fc46UlmTXksgVfBmcS9kCzo0UXz5uakbQ8gU6DcV/+N9LEPnvJHF8rTKhdwDLULdFxq2IdmQlEfqdtYZfJa1UatbfUS9mB1YhD6V3S14/xVaFBRjtZk7O9Q4jdQOcl5kP+eLkxUAnlICFgTY092G+eMC1tSR2uy9z8u3+bx0Z/aM44z39bPQEQ0A2C67YqfpYghv+3LsapGb36wGl9JDgQtu5msCqND4lFYtK0u51jlKmVTGoVYIWwn73k8FKqFPygnnZz1AMHTxVZB1UuPgp4iIOvhfmwQei8nc2EmNKVDRnjXEEiy2u2klVPVsmxZShWSsfTzJrGrqqxtUlCYBItMJ/+fMajzOZRSVw1KCbKGp5KevdpUmu2KIEWOtYb2gVCwECqZ7KLT/t0J3I7RePW5zt1ACRlRCM8c8i2XO8zvkBYTQnbMKoDR9fhCdVqud7L91oFFzo7lq9LJqhCC99Cz+0TgY+O5JHIBBqT3AHNb2ioXzJttQRGK02cbjgRrf66y9OdbT3T9tXJSMxjaXt1omht/AZAJ4t5khD5hSvbv5PsOI4GA/gVBEXb3v1Lg36dppXCM2bueUDZwMjJ62C1+6Yrtt3j5EieH6plDUlSRRUZLFVrEzp/rCfSR1QCoRS2guGQiQ31qhskpT1nuWIGCeYtfGJLCN8TM0evMJQTrK286UWmCukyzN9BKDUS1DUlsX1BnQakw1oDe4yBVrq0iFaNRRZbNWGxzdv0peC4sES13rJQORFlKC485tX6gS+fFmyuHFnTE3GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RjR7YVySdkvvDMaCYvbm53",
      "input": {
        "note": "Pitcher is upright again beside the red cup. Moving it back toward the base, left of the cups, and lowering until its base touches the table so I can release it.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.4,
          "left_y": -0.06,
          "left_yaw": 0.0,
          "left_z": 0.185
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01RjR7YVySdkvvDMaCYvbm53",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2584, 1.3365, 0.8993, -0.1928, -0.2356, -0.1364, 0.4192, -0.0147, 0.8062, 0.6075, -0.3851, -0.0101, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.3997 left_y=-0.0593 left_z=0.1771 left_yaw=0.006 left_pitch=-0.0512 left_roll=0.0277 left_gripper=0.4192 right_x=0.2953 right_y=0.001 right_z=0.1771 right_yaw=0.0002 right_pitch=-0.0237 right_roll=-0.0009 right_gripper=0.9994\nstate[joint_eff]: [0.1983, -5.6137, 7.159, 1.4481, 0.022, 0.022, 0.1245, -0.3487, -1.5658, 7.0359, 1.7167, -0.0366, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54284e0e1aed5061387bbf92c07e42a8b5410a21868fe346095955259844d325",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:888d32d5e9c74098bd7db2aa9df8e094a29d3359a60bbef6e37e49284e5e07d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dce6f20df90d30669f941d0d50e6b2fa7d14df29a9b8ea4ad95dece4ad070f0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /messages · status 200 · 6.528 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4873, 1.7821, 1.2148, 0.2272, -0.9962, 1.111, 0.4165, -0.0147, 0.8024, 0.6079, -0.3847, -0.0109, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4873 left_y=-0.0864 left_z=0.2339 left_yaw=-0.0177 left_pitch=-0.0719 left_roll=1.3314 left_gripper=0.4165 right_x=0.2952 right_y=0.0012 right_z=0.1784 right_yaw=0.0008 right_pitch=-0.0191 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.5265, -8.9641, 7.747, 2.044, -0.5055, 0.1294, -0.0122, -0.3761, -1.0188, 7.0359, 1.7314, -0.022, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2668, 1.626, 1.4578, -0.4862, -0.2913, -0.0776, 0.4179, -0.0143, 0.8032, 0.6079, -0.3851, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4736 left_y=-0.0732 left_z=0.2482 left_yaw=0.0134 left_pitch=-0.0682 left_roll=0.1144 left_gripper=0.4179 right_x=0.2952 right_y=0.0012 right_z=0.1782 right_yaw=0.0009 right_pitch=-0.0202 right_roll=-0.0007 right_gripper=0.9994\nstate[joint_eff]: [0.1983, -11.3846, 8.9094, 1.7509, -0.0757, -0.0464, 0.1392, -0.0752, -1.388, 7.1316, 1.7216, -0.0269, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2584, 1.3365, 0.8993, -0.1928, -0.2356, -0.1364, 0.4192, -0.0147, 0.8062, 0.6075, -0.3851, -0.0101, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.3997 left_y=-0.0593 left_z=0.1771 left_yaw=0.006 left_pitch=-0.0512 left_roll=0.0277 left_gripper=0.4192 right_x=0.2953 right_y=0.001 right_z=0.1771 right_yaw=0.0002 right_pitch=-0.0237 right_roll=-0.0009 right_gripper=0.9994\nstate[joint_eff]: [0.1983, -5.6137, 7.159, 1.4481, 0.022, 0.022, 0.1245, -0.3487, -1.5658, 7.0359, 1.7167, -0.0366, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54284e0e1aed5061387bbf92c07e42a8b5410a21868fe346095955259844d325",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:888d32d5e9c74098bd7db2aa9df8e094a29d3359a60bbef6e37e49284e5e07d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dce6f20df90d30669f941d0d50e6b2fa7d14df29a9b8ea4ad95dece4ad070f0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS+gYKEAgRGAI4AUIIdGhpbmtpbmcSDG3gA9/9MkeFGOVH4BoMMhg2xH6hZ2HW2+YrIjAV0IhL6MyRPXhTJCA5pgTypl+bJxnqIaOUPlz2B3eKTqQMRtP/JrRC/ELXU/MMTU8qlwbS0DJDdheD+W96OduQf1KMNqPkqbv/oHxolDwTkl2oIB12SIx4Z7JPWpag+34Mx5tml4QV3aREwAQsDDQfdTkJ9NuY3JJ780nj7ahPrN397eFWOFjpu3qPlCZcLL1mbjLBXosFB/TjcFiPSVJ7JI8EykoAIHVG63+f9Tb0uI7yldw3dEtUvQgXCDiQlb5pEzjtqdLVHNQ3VIuV1iAaB0YaFZsmeo2RbzpCVb2m+rmqKcr2x11fyf5Q593Y5ckS/o6Ust0Kz4l260fjLUcXdD5vX7L6ej0ykSlecwvA+DFI/DE4MltBehsRBoPxRd2FU7q97zwGQhufF+BJGVQ8Y6zoud6Z7m2IExPT82tZd/wLlbovP9Wfl9Yt04Fwa296uTWe/okkDAVigqCh7fTCMaIkG++H6yY/D0HTgCzyFUS9ccpQvgkIFdQjm6pDDnio6XgSfdv9m8AK+Fg9Fnoojqusw3pkdCdnoyowyUYfE2UbxN4DxhKHhZ+lAeAkCfj/qtxwvBIiEovLvbHDWTvSO2FPRtwrN2Q5yJswbA1rdUCxkvh0lr99g0ZH0O6JI2kExxTegROzpw8QWnzI6TsGx5NZGVJd8np9raGLnT9zkwyiHtZdJ9cepckTBUil21Chvh7JzbChxdme72f05mpB4tLkToPJqIYSe1mLDEqftiNOrnXQfz2vmIqQAO23RkocxhEwH9RrkMv5cXJcCFrTQxy8tfvG+VbPgDzCuGSvinDzcyLwImhGzEPzD/IMkJxPOZeiTFja7N8X4UxB8vto1HbJS8qjRIhNNrOX+X0RD06XOJNFYp9bwEjh/1MX1u75azCVF651R6a8tExuT/wuQ2K07jXRKqEaKPKrZ2hAsWneFL6R1lE8cg9o8a1RC50qp94bFehpFRPQCSErPS22OsadU3AZmrxpDlYgqiM/h5MDpqgCLfktkSLNQXTeIJ+Lhy97ssQikSd3ZTcJOjhBVfN6SlunMAvFJi910RajZCc6MREChDu5HiNni4QDahdguimqlLHWMQMRitP0tsbv6Ul2sYSXeFxpshgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Q4EH1H1FAFTEgHVPVwkecg",
      "input": {
        "note": "Shoulder effort dropped as the pitcher's base met the table at z≈0.18. Opening the gripper to release the pitcher.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Q4EH1H1FAFTEgHVPVwkecg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2569, 1.3369, 0.8749, -0.1936, -0.2314, -0.1356, 0.9953, -0.0143, 0.8078, 0.6079, -0.3851, -0.0101, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.395 left_y=-0.0582 left_z=0.1659 left_yaw=0.004 left_pitch=-0.0765 left_roll=0.0325 left_gripper=0.9953 right_x=0.2955 right_y=0.0011 right_z=0.1769 right_yaw=0.0006 right_pitch=-0.0248 right_roll=-0.0009 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -5.4906, 9.0462, 1.6728, -0.188, -0.0513, 0.0024, -0.0752, -1.4564, 7.1043, 1.707, -0.0366, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfc69a5e2eb1b02244112a19600eabff3f0290b7f83b5bceeca250d444a77715",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6e152a500d8e3a9f75c60add4ce69337896f59002060d6c7d6f1e8658a25406",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e8df8f081ddf996baf79cd84ec3770f84864c16fc5396ef51f63d35b3f003b68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /messages · status 200 · 12.84 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2668, 1.626, 1.4578, -0.4862, -0.2913, -0.0776, 0.4179, -0.0143, 0.8032, 0.6079, -0.3851, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4736 left_y=-0.0732 left_z=0.2482 left_yaw=0.0134 left_pitch=-0.0682 left_roll=0.1144 left_gripper=0.4179 right_x=0.2952 right_y=0.0012 right_z=0.1782 right_yaw=0.0009 right_pitch=-0.0202 right_roll=-0.0007 right_gripper=0.9994\nstate[joint_eff]: [0.1983, -11.3846, 8.9094, 1.7509, -0.0757, -0.0464, 0.1392, -0.0752, -1.388, 7.1316, 1.7216, -0.0269, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2584, 1.3365, 0.8993, -0.1928, -0.2356, -0.1364, 0.4192, -0.0147, 0.8062, 0.6075, -0.3851, -0.0101, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.3997 left_y=-0.0593 left_z=0.1771 left_yaw=0.006 left_pitch=-0.0512 left_roll=0.0277 left_gripper=0.4192 right_x=0.2953 right_y=0.001 right_z=0.1771 right_yaw=0.0002 right_pitch=-0.0237 right_roll=-0.0009 right_gripper=0.9994\nstate[joint_eff]: [0.1983, -5.6137, 7.159, 1.4481, 0.022, 0.022, 0.1245, -0.3487, -1.5658, 7.0359, 1.7167, -0.0366, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2569, 1.3369, 0.8749, -0.1936, -0.2314, -0.1356, 0.9953, -0.0143, 0.8078, 0.6079, -0.3851, -0.0101, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.395 left_y=-0.0582 left_z=0.1659 left_yaw=0.004 left_pitch=-0.0765 left_roll=0.0325 left_gripper=0.9953 right_x=0.2955 right_y=0.0011 right_z=0.1769 right_yaw=0.0006 right_pitch=-0.0248 right_roll=-0.0009 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -5.4906, 9.0462, 1.6728, -0.188, -0.0513, 0.0024, -0.0752, -1.4564, 7.1043, 1.707, -0.0366, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfc69a5e2eb1b02244112a19600eabff3f0290b7f83b5bceeca250d444a77715",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6e152a500d8e3a9f75c60add4ce69337896f59002060d6c7d6f1e8658a25406",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8df8f081ddf996baf79cd84ec3770f84864c16fc5396ef51f63d35b3f003b68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkggKEAgRGAI4AUIIdGhpbmtpbmcSDJ4UalM0oJ1ESbiF0xoMVpBAzIn9jdRY7SEFIjAmkrTsR6zMZlGgzTarAfR07asfrUmNtnYIf0v/Vipvf4EMB/Oa9i230wzukHBlRnwqrwdD4aH8U7+IbILkReF17XGXLlwX0k6mawIE/dgdggC0//sqVPCfe3ZpSYdSRC5uXzUX94KSrTWeniGjX7gbSE+R2GL7P7VdyiO6SkghEOD+SK5fCGwK6SExOB0XKpVTH0uubaHTKdx2UUoxIzFQBrTGa3fMxh+DUN2rbfQdNW+7SDjqh+N5mO+ORMNubSAxWA8ud7TTcurB1ioqjgq5Vf564oC8hZ8THfeUcETnzCZfmhz3d+sHR3r/ZmIbOk538i1AngQG3bE4Fa+GwAI7c4PC//iqckj9qMHI44TKxHlsSlFthff3pj7fJm30x0Ojp+IpWKPFXsTE5no6epVeYgWYmzNQJNQ6A9NEVkBDT3pB60owlbL+cTnsfU9GHK7tuBBaIvekziXSqg8EjKX3mlnTfxt3/weTO+NhErBu24WvL60fCvbGUbZxTLuqtlUSSjpcb+1jwda1NNB/1ErLUuZ7Uqrc52pPtB4OFq81T5wlOkTELofpI2h5ErkQcv4+/HrhUuemPC9zJywNsJf6Nrz/ntK2dtPRXIit72kHz7k0GD5pLGhd/hpjEuKmrTPyzHJxXMJEs7pf4N8MeGDSWYQYngcM3C79cwLILpRWeiVhPYYzkMJ8Q69fKFUY6GUwsh6BZCFS1R3b8g/+IzJ22A0cHlMJS7w9/gioum8ZUDOHZvOarNp/tf7uOCbXjp41JTpr+AWEr6jAPi+TNq8aoKXkgF8Kmw3zEfrbp9Mfqm1mFDLyNZCOoOYO0M2WfQgMtXHv3aipFymzWEgsCNia+O0zchS8hKhhr54jupCwrNnSU88D2KsWwlxFCG9XcoiH25LV2rksQVIVHNHRTc44WhwvSG00bQ/JJokwePrOMicVyt0zFCba4cWgf3AbpwDTwejpRFUYB7c0wcgiEpZwWgY2fawl3nYGtYOkE0VXcFynybG/PPhl7UYAKemlqcq214oYDgRII/k63bkZPZlh7K38NErIe95t/xU3FgsowHHE3Cndr7NewLRfBf5bKWsgSC8QEtv7GdaCrP1eyZChT3nH/GkZIYD9d+rIZMmxiQ2rYBOzaxlRkQSZPiiXgRSIjoy80/SNax+wvz004uX8gv/TI3cz2uhssJLj2WGzW7jzK8U/TlTrkvyhecDuGx7gexodMeerHrK6EIF2ZAReokzisqMekRLAcm0JpuRod7Uqp1c6SVk8J7fERtRuUlfg6Iq+lbdqMN7Cglo2RoATvU4xqp/W2kG9uNzdkH18ZReNGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013HfgxCjyRVMthF57UvrZCQ",
      "input": {
        "note": "Pitcher released and standing left of the cups. Lifting the left gripper straight up clear of the pitcher before parking the arm.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_yaw": 0.0,
          "left_z": 0.32
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_013HfgxCjyRVMthF57UvrZCQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2565, 1.3205, 1.3727, -0.63, -0.2272, -0.1505, 0.9967, -0.0147, 0.8082, 0.6075, -0.3851, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.3971 left_y=-0.0593 left_z=0.3084 left_yaw=0.008 left_pitch=-0.0018 left_roll=-0.0023 left_gripper=0.9967 right_x=0.2954 right_y=0.0011 right_z=0.1766 right_yaw=0.0005 right_pitch=-0.0256 right_roll=-0.0007 right_gripper=0.9994\nstate[joint_eff]: [0.4034, -4.3692, 8.5675, 1.5604, -0.0122, 0.0415, 0.1343, -0.294, -1.3333, 7.0632, 1.7167, -0.0122, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a597a2aed8076a30536009763b1f3d7404da7a7c71a1cd6df70e129433bca4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bc0edaea53268ee11aaf0b838394d7f3f292823c6e2f9dafa237fb542a7baca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c33534257934d96ae0ae62ae014716dc26788ddd7d726f20d5035bf8b881e074",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /messages · status 200 · 13.38 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2584, 1.3365, 0.8993, -0.1928, -0.2356, -0.1364, 0.4192, -0.0147, 0.8062, 0.6075, -0.3851, -0.0101, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.3997 left_y=-0.0593 left_z=0.1771 left_yaw=0.006 left_pitch=-0.0512 left_roll=0.0277 left_gripper=0.4192 right_x=0.2953 right_y=0.001 right_z=0.1771 right_yaw=0.0002 right_pitch=-0.0237 right_roll=-0.0009 right_gripper=0.9994\nstate[joint_eff]: [0.1983, -5.6137, 7.159, 1.4481, 0.022, 0.022, 0.1245, -0.3487, -1.5658, 7.0359, 1.7167, -0.0366, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2569, 1.3369, 0.8749, -0.1936, -0.2314, -0.1356, 0.9953, -0.0143, 0.8078, 0.6079, -0.3851, -0.0101, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.395 left_y=-0.0582 left_z=0.1659 left_yaw=0.004 left_pitch=-0.0765 left_roll=0.0325 left_gripper=0.9953 right_x=0.2955 right_y=0.0011 right_z=0.1769 right_yaw=0.0006 right_pitch=-0.0248 right_roll=-0.0009 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -5.4906, 9.0462, 1.6728, -0.188, -0.0513, 0.0024, -0.0752, -1.4564, 7.1043, 1.707, -0.0366, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2565, 1.3205, 1.3727, -0.63, -0.2272, -0.1505, 0.9967, -0.0147, 0.8082, 0.6075, -0.3851, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.3971 left_y=-0.0593 left_z=0.3084 left_yaw=0.008 left_pitch=-0.0018 left_roll=-0.0023 left_gripper=0.9967 right_x=0.2954 right_y=0.0011 right_z=0.1766 right_yaw=0.0005 right_pitch=-0.0256 right_roll=-0.0007 right_gripper=0.9994\nstate[joint_eff]: [0.4034, -4.3692, 8.5675, 1.5604, -0.0122, 0.0415, 0.1343, -0.294, -1.3333, 7.0632, 1.7167, -0.0122, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a597a2aed8076a30536009763b1f3d7404da7a7c71a1cd6df70e129433bca4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bc0edaea53268ee11aaf0b838394d7f3f292823c6e2f9dafa237fb542a7baca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c33534257934d96ae0ae62ae014716dc26788ddd7d726f20d5035bf8b881e074",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0164D5c3MVFxXZStvNP2R1p9",
      "input": {
        "note": "First pour complete; pitcher stands left of the cups. Parking the left arm at home and flying the right arm over the white bottle with the blue cap (right of centre) to inspect it with the right wrist camera.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.3,
          "left_y": 0.0,
          "left_yaw": 0.0,
          "left_z": 0.25,
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.44,
          "right_y": 0.34,
          "right_yaw": 0.0,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 29 steps (2.9s)",
      "tool_use_id": "toolu_0164D5c3MVFxXZStvNP2R1p9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0372, 0.8776, 0.907, -0.5907, -0.0475, -0.0334, 0.9968, 0.8474, 2.1555, 2.3341, -0.915, 0.6632, 0.5053, 0.9994]\nstate[eef_state]: left_x=0.3035 left_y=0.0007 left_z=0.2512 left_yaw=0.0136 left_pitch=-0.0013 left_roll=-0.0013 left_gripper=0.9968 right_x=0.4437 right_y=0.3437 right_z=0.2943 right_yaw=0.03 right_pitch=0.0024 right_roll=0.0123 right_gripper=0.9994\nstate[joint_eff]: [0.4581, -2.0581, 6.5436, 1.7118, 0.0171, 0.0708, 0.0024, 0.5128, -12.3145, 7.8427, 0.7643, 0.6032, 0.1685, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:960760a3c52fe2dc50d6c00154053d436ccb8fb6cd7fd28ce80097e5341e262f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c8cfad9e1ba3fb5e333bfdd031e759ba6233245404fc7b89b922fef06bd0954",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f0e8f6031ba8e14f0a6d48ca0d1bcad7736138c1a778a9532ac94417c80be65f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /messages · status 200 · 14.86 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 106 changed as sent

message 109 changed as sent

message 112 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2569, 1.3369, 0.8749, -0.1936, -0.2314, -0.1356, 0.9953, -0.0143, 0.8078, 0.6079, -0.3851, -0.0101, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.395 left_y=-0.0582 left_z=0.1659 left_yaw=0.004 left_pitch=-0.0765 left_roll=0.0325 left_gripper=0.9953 right_x=0.2955 right_y=0.0011 right_z=0.1769 right_yaw=0.0006 right_pitch=-0.0248 right_roll=-0.0009 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -5.4906, 9.0462, 1.6728, -0.188, -0.0513, 0.0024, -0.0752, -1.4564, 7.1043, 1.707, -0.0366, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2565, 1.3205, 1.3727, -0.63, -0.2272, -0.1505, 0.9967, -0.0147, 0.8082, 0.6075, -0.3851, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.3971 left_y=-0.0593 left_z=0.3084 left_yaw=0.008 left_pitch=-0.0018 left_roll=-0.0023 left_gripper=0.9967 right_x=0.2954 right_y=0.0011 right_z=0.1766 right_yaw=0.0005 right_pitch=-0.0256 right_roll=-0.0007 right_gripper=0.9994\nstate[joint_eff]: [0.4034, -4.3692, 8.5675, 1.5604, -0.0122, 0.0415, 0.1343, -0.294, -1.3333, 7.0632, 1.7167, -0.0122, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0372, 0.8776, 0.907, -0.5907, -0.0475, -0.0334, 0.9968, 0.8474, 2.1555, 2.3341, -0.915, 0.6632, 0.5053, 0.9994]\nstate[eef_state]: left_x=0.3035 left_y=0.0007 left_z=0.2512 left_yaw=0.0136 left_pitch=-0.0013 left_roll=-0.0013 left_gripper=0.9968 right_x=0.4437 right_y=0.3437 right_z=0.2943 right_yaw=0.03 right_pitch=0.0024 right_roll=0.0123 right_gripper=0.9994\nstate[joint_eff]: [0.4581, -2.0581, 6.5436, 1.7118, 0.0171, 0.0708, 0.0024, 0.5128, -12.3145, 7.8427, 0.7643, 0.6032, 0.1685, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:960760a3c52fe2dc50d6c00154053d436ccb8fb6cd7fd28ce80097e5341e262f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c8cfad9e1ba3fb5e333bfdd031e759ba6233245404fc7b89b922fef06bd0954",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0e8f6031ba8e14f0a6d48ca0d1bcad7736138c1a778a9532ac94417c80be65f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UhsF8somJVAid4KotXuZA3",
      "input": {
        "note": "Right wrist view shows the white bottle's cap at the bottom of the frame, ~2 cm right of the jaw column. Shifting slightly right and descending with open jaws to bracket the bottle neck under the cap.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.44,
          "right_y": 0.315,
          "right_yaw": 0.0,
          "right_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01UhsF8somJVAid4KotXuZA3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.8818, 0.9016, -0.5903, -0.0479, -0.0338, 0.9968, 0.8268, 2.0266, 1.6756, -0.4995, 0.6502, 0.4999, 0.9994]\nstate[eef_state]: left_x=0.3038 left_y=0.0011 left_z=0.2477 left_yaw=0.0152 left_pitch=-0.0105 left_roll=-0.001 left_gripper=0.9968 right_x=0.4322 right_y=0.317 right_z=0.1629 right_yaw=0.0183 right_pitch=-0.0829 right_roll=-0.0686 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.9624, 7.2, 1.7118, -0.0415, -0.0171, -0.0122, -0.8547, -14.3658, 7.0906, 1.6532, 0.4615, 0.0317, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96c754e00e32b89b51cbcbc73504e6c8d777558a650432b00cb2ca2ac20e0203",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bf7f52cfe9b67f2c5e37be985067dae882d6e65844471862eb35e7d45233e5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1e4482b0cfbd035f098df25755c0af7987c0468868dfc3379d2336dc3e8ad60a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /messages · status 200 · 25.62 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 109 changed as sent

message 112 changed as sent

message 115 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2565, 1.3205, 1.3727, -0.63, -0.2272, -0.1505, 0.9967, -0.0147, 0.8082, 0.6075, -0.3851, -0.0105, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.3971 left_y=-0.0593 left_z=0.3084 left_yaw=0.008 left_pitch=-0.0018 left_roll=-0.0023 left_gripper=0.9967 right_x=0.2954 right_y=0.0011 right_z=0.1766 right_yaw=0.0005 right_pitch=-0.0256 right_roll=-0.0007 right_gripper=0.9994\nstate[joint_eff]: [0.4034, -4.3692, 8.5675, 1.5604, -0.0122, 0.0415, 0.1343, -0.294, -1.3333, 7.0632, 1.7167, -0.0122, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0372, 0.8776, 0.907, -0.5907, -0.0475, -0.0334, 0.9968, 0.8474, 2.1555, 2.3341, -0.915, 0.6632, 0.5053, 0.9994]\nstate[eef_state]: left_x=0.3035 left_y=0.0007 left_z=0.2512 left_yaw=0.0136 left_pitch=-0.0013 left_roll=-0.0013 left_gripper=0.9968 right_x=0.4437 right_y=0.3437 right_z=0.2943 right_yaw=0.03 right_pitch=0.0024 right_roll=0.0123 right_gripper=0.9994\nstate[joint_eff]: [0.4581, -2.0581, 6.5436, 1.7118, 0.0171, 0.0708, 0.0024, 0.5128, -12.3145, 7.8427, 0.7643, 0.6032, 0.1685, -0.0757]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.8818, 0.9016, -0.5903, -0.0479, -0.0338, 0.9968, 0.8268, 2.0266, 1.6756, -0.4995, 0.6502, 0.4999, 0.9994]\nstate[eef_state]: left_x=0.3038 left_y=0.0011 left_z=0.2477 left_yaw=0.0152 left_pitch=-0.0105 left_roll=-0.001 left_gripper=0.9968 right_x=0.4322 right_y=0.317 right_z=0.1629 right_yaw=0.0183 right_pitch=-0.0829 right_roll=-0.0686 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.9624, 7.2, 1.7118, -0.0415, -0.0171, -0.0122, -0.8547, -14.3658, 7.0906, 1.6532, 0.4615, 0.0317, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96c754e00e32b89b51cbcbc73504e6c8d777558a650432b00cb2ca2ac20e0203",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bf7f52cfe9b67f2c5e37be985067dae882d6e65844471862eb35e7d45233e5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e4482b0cfbd035f098df25755c0af7987c0468868dfc3379d2336dc3e8ad60a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Xv698JPomufuBvJUjwquHS",
      "input": {
        "note": "The bottle top now appears at the lower right of the right wrist view, so the bottle is a few cm further right than the jaws. Lifting straight up before re-centring to avoid dragging it.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.44,
          "right_y": 0.317,
          "right_yaw": 0.0,
          "right_z": 0.27
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Xv698JPomufuBvJUjwquHS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.8825, 0.9016, -0.59, -0.0479, -0.0345, 0.9968, 0.823, 2.027, 1.9656, -0.7071, 0.6468, 0.4942, 0.9993]\nstate[eef_state]: left_x=0.3039 left_y=0.0012 left_z=0.2475 left_yaw=0.016 left_pitch=-0.0108 left_roll=-0.0016 left_gripper=0.9968 right_x=0.4401 right_y=0.3233 right_z=0.2473 right_yaw=0.0232 right_pitch=-0.0279 right_roll=-0.0124 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -1.6752, 6.8308, 1.7167, -0.0366, 0.0024, -0.0122, -0.4718, -12.3419, 9.1419, 1.3993, 0.4908, 0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a3e3a593ab5871d4a48c0a9c0839eee57c04b4bb17855346647c78f11384afb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d772ab5a09d102fcd847fd31d2f1e60ce6d63216f5cb499582ceb354e843cae7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:22d104803efd2c38e9c2ee411af70c278ee59af7325f707f37ed872acf65fee6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 40 attempt 0 · /messages · status 200 · 27.18 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 112 changed as sent

message 115 changed as sent

message 118 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0372, 0.8776, 0.907, -0.5907, -0.0475, -0.0334, 0.9968, 0.8474, 2.1555, 2.3341, -0.915, 0.6632, 0.5053, 0.9994]\nstate[eef_state]: left_x=0.3035 left_y=0.0007 left_z=0.2512 left_yaw=0.0136 left_pitch=-0.0013 left_roll=-0.0013 left_gripper=0.9968 right_x=0.4437 right_y=0.3437 right_z=0.2943 right_yaw=0.03 right_pitch=0.0024 right_roll=0.0123 right_gripper=0.9994\nstate[joint_eff]: [0.4581, -2.0581, 6.5436, 1.7118, 0.0171, 0.0708, 0.0024, 0.5128, -12.3145, 7.8427, 0.7643, 0.6032, 0.1685, -0.0757]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.8818, 0.9016, -0.5903, -0.0479, -0.0338, 0.9968, 0.8268, 2.0266, 1.6756, -0.4995, 0.6502, 0.4999, 0.9994]\nstate[eef_state]: left_x=0.3038 left_y=0.0011 left_z=0.2477 left_yaw=0.0152 left_pitch=-0.0105 left_roll=-0.001 left_gripper=0.9968 right_x=0.4322 right_y=0.317 right_z=0.1629 right_yaw=0.0183 right_pitch=-0.0829 right_roll=-0.0686 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.9624, 7.2, 1.7118, -0.0415, -0.0171, -0.0122, -0.8547, -14.3658, 7.0906, 1.6532, 0.4615, 0.0317, -0.0757]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.8825, 0.9016, -0.59, -0.0479, -0.0345, 0.9968, 0.823, 2.027, 1.9656, -0.7071, 0.6468, 0.4942, 0.9993]\nstate[eef_state]: left_x=0.3039 left_y=0.0012 left_z=0.2475 left_yaw=0.016 left_pitch=-0.0108 left_roll=-0.0016 left_gripper=0.9968 right_x=0.4401 right_y=0.3233 right_z=0.2473 right_yaw=0.0232 right_pitch=-0.0279 right_roll=-0.0124 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -1.6752, 6.8308, 1.7167, -0.0366, 0.0024, -0.0122, -0.4718, -12.3419, 9.1419, 1.3993, 0.4908, 0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a3e3a593ab5871d4a48c0a9c0839eee57c04b4bb17855346647c78f11384afb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d772ab5a09d102fcd847fd31d2f1e60ce6d63216f5cb499582ceb354e843cae7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22d104803efd2c38e9c2ee411af70c278ee59af7325f707f37ed872acf65fee6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01D3RcqaZtbLxAqiKUwnST3y",
      "input": {
        "note": "Bottle top still sits under the right jaw at the lower-right of the wrist view, so the bottle centre is ~5 cm to the arm's right. Shifting the right arm right to centre the jaws over the cap before descending.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.44,
          "right_y": 0.275,
          "right_yaw": 0.0,
          "right_z": 0.27
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01D3RcqaZtbLxAqiKUwnST3y",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.8833, 0.9016, -0.5896, -0.0479, -0.0338, 0.9968, 0.7563, 1.9404, 1.8175, -0.68, 0.6128, 0.4541, 0.9993]\nstate[eef_state]: left_x=0.3041 left_y=0.0011 left_z=0.2474 left_yaw=0.0152 left_pitch=-0.0112 left_roll=-0.001 left_gripper=0.9968 right_x=0.4419 right_y=0.2821 right_z=0.2335 right_yaw=0.0014 right_pitch=-0.07 right_roll=-0.0523 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -1.7162, 6.7761, 1.7949, -0.0855, -0.0073, -0.0073, -0.4444, -14.612, 7.0769, 1.7167, 0.3199, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e59b6ad8acc3b4cb2942477b1d317361a9207a656f5b2968462489cf158a718",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6018694b3bb1e92a1ddb61c3fd414de9088f7f49919b509404eaac08f03862df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dd804e101103954ce040ee0964a7c56d675f089eade169f8da444608445992e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 41 attempt 0 · /messages · status 200 · 17.55 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 115 changed as sent

message 118 changed as sent

message 121 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.8818, 0.9016, -0.5903, -0.0479, -0.0338, 0.9968, 0.8268, 2.0266, 1.6756, -0.4995, 0.6502, 0.4999, 0.9994]\nstate[eef_state]: left_x=0.3038 left_y=0.0011 left_z=0.2477 left_yaw=0.0152 left_pitch=-0.0105 left_roll=-0.001 left_gripper=0.9968 right_x=0.4322 right_y=0.317 right_z=0.1629 right_yaw=0.0183 right_pitch=-0.0829 right_roll=-0.0686 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.9624, 7.2, 1.7118, -0.0415, -0.0171, -0.0122, -0.8547, -14.3658, 7.0906, 1.6532, 0.4615, 0.0317, -0.0757]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.8825, 0.9016, -0.59, -0.0479, -0.0345, 0.9968, 0.823, 2.027, 1.9656, -0.7071, 0.6468, 0.4942, 0.9993]\nstate[eef_state]: left_x=0.3039 left_y=0.0012 left_z=0.2475 left_yaw=0.016 left_pitch=-0.0108 left_roll=-0.0016 left_gripper=0.9968 right_x=0.4401 right_y=0.3233 right_z=0.2473 right_yaw=0.0232 right_pitch=-0.0279 right_roll=-0.0124 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -1.6752, 6.8308, 1.7167, -0.0366, 0.0024, -0.0122, -0.4718, -12.3419, 9.1419, 1.3993, 0.4908, 0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.8833, 0.9016, -0.5896, -0.0479, -0.0338, 0.9968, 0.7563, 1.9404, 1.8175, -0.68, 0.6128, 0.4541, 0.9993]\nstate[eef_state]: left_x=0.3041 left_y=0.0011 left_z=0.2474 left_yaw=0.0152 left_pitch=-0.0112 left_roll=-0.001 left_gripper=0.9968 right_x=0.4419 right_y=0.2821 right_z=0.2335 right_yaw=0.0014 right_pitch=-0.07 right_roll=-0.0523 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -1.7162, 6.7761, 1.7949, -0.0855, -0.0073, -0.0073, -0.4444, -14.612, 7.0769, 1.7167, 0.3199, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e59b6ad8acc3b4cb2942477b1d317361a9207a656f5b2968462489cf158a718",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6018694b3bb1e92a1ddb61c3fd414de9088f7f49919b509404eaac08f03862df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd804e101103954ce040ee0964a7c56d675f089eade169f8da444608445992e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XNdqrMGMLAKrhv8VB7kN2f",
      "input": {
        "note": "The right jaw is resting on the bottle's cap (z stuck at 0.23 with the tool tilted); the bottle is still ~5 cm to the arm's right. Lifting straight up first to get off the cap.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.44,
          "right_y": 0.282,
          "right_yaw": 0.0,
          "right_z": 0.31
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01XNdqrMGMLAKrhv8VB7kN2f",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.8833, 0.9016, -0.59, -0.0479, -0.0349, 0.9968, 0.7532, 1.9469, 2.0258, -0.8177, 0.6094, 0.4419, 0.9993]\nstate[eef_state]: left_x=0.304 left_y=0.0012 left_z=0.2473 left_yaw=0.0162 left_pitch=-0.0116 left_roll=-0.0019 left_gripper=0.9968 right_x=0.4427 right_y=0.2814 right_z=0.2921 right_yaw=0.0095 right_pitch=-0.0249 right_roll=-0.0169 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -1.6615, 6.7897, 1.746, -0.0855, -0.0024, -0.0073, 0.6496, -10.359, 8.8821, 1.37, 0.3785, 0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ddfe628e58c21ad9bdde20a3375e17fe9d8409a82390873427848aa6a1303d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dcc655e0568c26476c9cdf52480c62beac93dde63c4b94a39049364d61961fb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:40eb6aceaf19da1cad324eb0379e55dec6e7f520a57c814cd6be1f6f503a8f2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 42 attempt 0 · /messages · status 200 · 17.39 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 118 changed as sent

message 121 changed as sent

message 124 changed as sent

message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.8825, 0.9016, -0.59, -0.0479, -0.0345, 0.9968, 0.823, 2.027, 1.9656, -0.7071, 0.6468, 0.4942, 0.9993]\nstate[eef_state]: left_x=0.3039 left_y=0.0012 left_z=0.2475 left_yaw=0.016 left_pitch=-0.0108 left_roll=-0.0016 left_gripper=0.9968 right_x=0.4401 right_y=0.3233 right_z=0.2473 right_yaw=0.0232 right_pitch=-0.0279 right_roll=-0.0124 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -1.6752, 6.8308, 1.7167, -0.0366, 0.0024, -0.0122, -0.4718, -12.3419, 9.1419, 1.3993, 0.4908, 0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.8833, 0.9016, -0.5896, -0.0479, -0.0338, 0.9968, 0.7563, 1.9404, 1.8175, -0.68, 0.6128, 0.4541, 0.9993]\nstate[eef_state]: left_x=0.3041 left_y=0.0011 left_z=0.2474 left_yaw=0.0152 left_pitch=-0.0112 left_roll=-0.001 left_gripper=0.9968 right_x=0.4419 right_y=0.2821 right_z=0.2335 right_yaw=0.0014 right_pitch=-0.07 right_roll=-0.0523 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -1.7162, 6.7761, 1.7949, -0.0855, -0.0073, -0.0073, -0.4444, -14.612, 7.0769, 1.7167, 0.3199, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.8833, 0.9016, -0.59, -0.0479, -0.0349, 0.9968, 0.7532, 1.9469, 2.0258, -0.8177, 0.6094, 0.4419, 0.9993]\nstate[eef_state]: left_x=0.304 left_y=0.0012 left_z=0.2473 left_yaw=0.0162 left_pitch=-0.0116 left_roll=-0.0019 left_gripper=0.9968 right_x=0.4427 right_y=0.2814 right_z=0.2921 right_yaw=0.0095 right_pitch=-0.0249 right_roll=-0.0169 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -1.6615, 6.7897, 1.746, -0.0855, -0.0024, -0.0073, 0.6496, -10.359, 8.8821, 1.37, 0.3785, 0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ddfe628e58c21ad9bdde20a3375e17fe9d8409a82390873427848aa6a1303d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dcc655e0568c26476c9cdf52480c62beac93dde63c4b94a39049364d61961fb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40eb6aceaf19da1cad324eb0379e55dec6e7f520a57c814cd6be1f6f503a8f2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Afkco2yNTeiMKCmPWeKXPJ",
      "input": {
        "note": "Bottle cap shows at the lower right of the right wrist view, roughly 3 cm right of the jaw column. Shifting right 3 cm and descending with open jaws to bracket the neck under the cap.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.44,
          "right_y": 0.25,
          "right_yaw": 0.0,
          "right_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Afkco2yNTeiMKCmPWeKXPJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.8845, 0.9016, -0.5896, -0.0479, -0.0349, 0.9968, 0.7109, 1.8454, 1.4227, -0.379, 0.5755, 0.411, 0.9994]\nstate[eef_state]: left_x=0.3042 left_y=0.0012 left_z=0.2471 left_yaw=0.0162 left_pitch=-0.0124 left_roll=-0.0019 left_gripper=0.9968 right_x=0.4329 right_y=0.2506 right_z=0.1636 right_yaw=0.0066 right_pitch=-0.0884 right_roll=-0.0661 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -1.7299, 7.1179, 1.7411, -0.0415, -0.0366, -0.0073, -0.9368, -13.0667, 7.3231, 1.6972, 0.2906, -0.0317, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75c02579a7c48beb0f498d663be02a622953ae093450f1c885d7d1608cb0530f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6031a2d0d2623bff7c8171732faea0eeef5b7eff86017c3fce89945bf05217b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a6e686e78a6039bd9238caf4c34e179167e2539dfcea1e495f9d2b05876bf479",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 43 attempt 0 · /messages · status 200 · 15.69 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 121 changed as sent

message 124 changed as sent

message 127 changed as sent

message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.8833, 0.9016, -0.5896, -0.0479, -0.0338, 0.9968, 0.7563, 1.9404, 1.8175, -0.68, 0.6128, 0.4541, 0.9993]\nstate[eef_state]: left_x=0.3041 left_y=0.0011 left_z=0.2474 left_yaw=0.0152 left_pitch=-0.0112 left_roll=-0.001 left_gripper=0.9968 right_x=0.4419 right_y=0.2821 right_z=0.2335 right_yaw=0.0014 right_pitch=-0.07 right_roll=-0.0523 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -1.7162, 6.7761, 1.7949, -0.0855, -0.0073, -0.0073, -0.4444, -14.612, 7.0769, 1.7167, 0.3199, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.8833, 0.9016, -0.59, -0.0479, -0.0349, 0.9968, 0.7532, 1.9469, 2.0258, -0.8177, 0.6094, 0.4419, 0.9993]\nstate[eef_state]: left_x=0.304 left_y=0.0012 left_z=0.2473 left_yaw=0.0162 left_pitch=-0.0116 left_roll=-0.0019 left_gripper=0.9968 right_x=0.4427 right_y=0.2814 right_z=0.2921 right_yaw=0.0095 right_pitch=-0.0249 right_roll=-0.0169 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -1.6615, 6.7897, 1.746, -0.0855, -0.0024, -0.0073, 0.6496, -10.359, 8.8821, 1.37, 0.3785, 0.0611, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.8845, 0.9016, -0.5896, -0.0479, -0.0349, 0.9968, 0.7109, 1.8454, 1.4227, -0.379, 0.5755, 0.411, 0.9994]\nstate[eef_state]: left_x=0.3042 left_y=0.0012 left_z=0.2471 left_yaw=0.0162 left_pitch=-0.0124 left_roll=-0.0019 left_gripper=0.9968 right_x=0.4329 right_y=0.2506 right_z=0.1636 right_yaw=0.0066 right_pitch=-0.0884 right_roll=-0.0661 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -1.7299, 7.1179, 1.7411, -0.0415, -0.0366, -0.0073, -0.9368, -13.0667, 7.3231, 1.6972, 0.2906, -0.0317, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75c02579a7c48beb0f498d663be02a622953ae093450f1c885d7d1608cb0530f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6031a2d0d2623bff7c8171732faea0eeef5b7eff86017c3fce89945bf05217b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6e686e78a6039bd9238caf4c34e179167e2539dfcea1e495f9d2b05876bf479",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QSi5FpLGnxwbGSxVbVP3AH",
      "input": {
        "note": "Jaws descended to z≈0.16 beside the bottle neck; the top view shows the gripper right at the bottle. Closing to test whether the neck is between the jaws.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01QSi5FpLGnxwbGSxVbVP3AH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.8845, 0.9016, -0.59, -0.0479, -0.0341, 0.9968, 0.7074, 1.8408, 1.3956, -0.3691, 0.564, 0.4038, 0.0117]\nstate[eef_state]: left_x=0.3042 left_y=0.0011 left_z=0.247 left_yaw=0.0154 left_pitch=-0.0128 left_roll=-0.0012 left_gripper=0.9968 right_x=0.4299 right_y=0.2481 right_z=0.1557 right_yaw=0.0148 right_pitch=-0.1037 right_roll=-0.0737 right_gripper=0.0117\nstate[joint_eff]: [-0.0752, -1.6342, 7.1043, 1.7998, -0.0562, -0.0513, -0.0122, -0.0889, -9.5521, 8.841, 1.4042, 0.3101, 0.0806, 0.9451]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7ef7a98b6d2387c4b5a06e3826693cc86aac401658aff31a954ee2d02268bfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca369be538c4d6c21100398b5e22d1a7ac2997f705e7cb8768e6b4bb3e150de9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:17910b99402e6d410018dfbc70d1498ff205f36475847fe3e248f7fc431f1875",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 44 attempt 0 · /messages · status 200 · 7.742 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 124 changed as sent

message 127 changed as sent

message 130 changed as sent

message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.8833, 0.9016, -0.59, -0.0479, -0.0349, 0.9968, 0.7532, 1.9469, 2.0258, -0.8177, 0.6094, 0.4419, 0.9993]\nstate[eef_state]: left_x=0.304 left_y=0.0012 left_z=0.2473 left_yaw=0.0162 left_pitch=-0.0116 left_roll=-0.0019 left_gripper=0.9968 right_x=0.4427 right_y=0.2814 right_z=0.2921 right_yaw=0.0095 right_pitch=-0.0249 right_roll=-0.0169 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -1.6615, 6.7897, 1.746, -0.0855, -0.0024, -0.0073, 0.6496, -10.359, 8.8821, 1.37, 0.3785, 0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.8845, 0.9016, -0.5896, -0.0479, -0.0349, 0.9968, 0.7109, 1.8454, 1.4227, -0.379, 0.5755, 0.411, 0.9994]\nstate[eef_state]: left_x=0.3042 left_y=0.0012 left_z=0.2471 left_yaw=0.0162 left_pitch=-0.0124 left_roll=-0.0019 left_gripper=0.9968 right_x=0.4329 right_y=0.2506 right_z=0.1636 right_yaw=0.0066 right_pitch=-0.0884 right_roll=-0.0661 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -1.7299, 7.1179, 1.7411, -0.0415, -0.0366, -0.0073, -0.9368, -13.0667, 7.3231, 1.6972, 0.2906, -0.0317, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.8845, 0.9016, -0.59, -0.0479, -0.0341, 0.9968, 0.7074, 1.8408, 1.3956, -0.3691, 0.564, 0.4038, 0.0117]\nstate[eef_state]: left_x=0.3042 left_y=0.0011 left_z=0.247 left_yaw=0.0154 left_pitch=-0.0128 left_roll=-0.0012 left_gripper=0.9968 right_x=0.4299 right_y=0.2481 right_z=0.1557 right_yaw=0.0148 right_pitch=-0.1037 right_roll=-0.0737 right_gripper=0.0117\nstate[joint_eff]: [-0.0752, -1.6342, 7.1043, 1.7998, -0.0562, -0.0513, -0.0122, -0.0889, -9.5521, 8.841, 1.4042, 0.3101, 0.0806, 0.9451]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7ef7a98b6d2387c4b5a06e3826693cc86aac401658aff31a954ee2d02268bfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca369be538c4d6c21100398b5e22d1a7ac2997f705e7cb8768e6b4bb3e150de9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17910b99402e6d410018dfbc70d1498ff205f36475847fe3e248f7fc431f1875",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6hEKEAgRGAI4AUIIdGhpbmtpbmcSDOzixN6Cc/g/zD/DdhoMenfU4YMN6apiwBMMIjAc9vZTg9+Oh2XY8Cb+nR3Xbd+sUhjm50K5e+aIReMtbACmynejapslk71oP5geXc4qhxEmHhGGU/nclRf5BMU/HuNG29E/p3gscS1+Edj2B9cc1A196ZVGGaaB0gs1oHdQsyV34z8nlPcO6i9iWr1ukvp4uptmYW5AAE7+2ip73wQN15pJHHnJt0yRCbzQ70FPz+xiUCH7ke1KDbV0RMQDIaY5gWpXncwBeE3ewUZZ8zN2Fn0PVWbYOlRhUffyMub3CzML+wAJRj2MUkqpnIefHTERlLH7GoIl1g9++mtEj0oK92BSk/yLOs+idmM6L6jWj20UedmNizh5l2HnN2N67afx5OR0WjxwG+cNi5w4Uts8hQAa4qU8Z9JNfmCxgoJJsmbQMkQwRenkBWS7z+A1IE4GR6Aq1QGVfG1MkeuLV/yha6hHSCYNHSeg6bY85VNGUHus/BU371k17KcGGxPYvOO4XIMkc+HvQj1JUTIJ36QkHEFCVvrbIsAlxw15uZdzfKObQo/Wt5kvHTZEcWlj4k9Eb2iFc0aAvhm8A9GJqAVJqth596lFP35W7KUxg7+6pkLHXbD1MPy1ZmOmp4q6qxUHDiw+8edCfMEQe9nAhAfBa/s2hPzQMfLhfw741VJAREvFwKOZol95ZMkcwXlDwl4R2DFWYxtrxdWHQdhYvCSIyVUEyEnuGYiANhkQk3hwa9hDhOsdUZ7tMvoLxoDMqUa+ALZcfzpymUkQifYv5ec5cq4DHnxPwkXi6ckBrmJ3eSYFh9NkANFGq3XfyhAApXiggoGloZFAX2U293NfjWbUogGFD8jByVAozyL1SR7Xp8qrx3ybu9mmcUXzqUyyksI3Nz8GIHq5KgyPrncER8V/Z6D+XBzTsvH4XLlfd8wIq1fsaMxrt24Ydg8FPqN3AN7MVdqgbOvCwsILCDuloHLV0Q4yemPhRrtmk4WaTVLgyVRll0W3ZN4c9EJi7BI/FQmG5FBDDxxXF5efc4vW0jz0Ii5HNBU6pBVi783pFCsvvoD507AftPuQSFt+DWHm490E6xyXGglKCKKysmXRdE3XgAy1br9UYl7e+ZI7fS42OvHrHOsglGqGzMytN55r3eMuiwiSY4dmGMQiJUurvYkENmMKAMq9WzvHV8h9O4P0zem0i5Gt2xONWgso1hqM+Yshnh2TROgT8xij+r2FZVchaewr6KqdOTcjmSDtTnQsp7Y1VqUdngr3senlt5vdxSXi496uqlM7jImtXsD6f0iFpBbFjVcUjFF8pUzl2s/pgRCP2UBLgxmPAUgm7FZ2W4QPhmAQkMOOQ16YRkaCopNLUbF/P1CJ+1irtPpcWZoeqLMoDoP6YQ/VmupMrLGnfvXTAZ+60P3pagEQjTdFXB9iioriaJmxuv3UButYG3uvWaN0twwkJSyCnr0Ds4vHeeHFwfa3Xqye+Dr95R99sKhYXDW5rTIaFX6CrA30XiOgWg0KBOLB6JcBexWD3qSBxzjcnsbBecN95bpKFKu1gBVSHppA6lQ3OsyfPlve59OGlv/hvSW6Eab2jDhgZx4cF5+8mGyUxp7qpIcMwc/byGZGyzGmJfQ/EQhr7q31GQgD4fWBytkG36b7qrbi4LnY8chM8UINZJ3MbuhVnAZJOOVxliBjxxGRnMllSYIao2xz0Pb7qkR1zxoz5hdQ8sZFaYoEFOQWv9twDS2dFWWsR0Mrve6J/rfkIk+yyONTl1sAj+tmAd8pEfivJ78Z8DHDtQUc+UwcYz1zBDOBSz2HY5+hrPmMsFxLlDr5/7QojvYu5UQAXNY0S5zYThSMTVDjWslSlx2X53ZSA/25S8vxO6WlSjZa1EoRLV9NToBGZoOmVPdnYQYteVcrbhp490ug4/YRgtSlCriF4YeuSnyH6YCY5gd+FScPtrnu5WGNHLzJFEzlUqpX2ZwsifJOqIPKafmvyOIpCA1QSjeoxqqrSJSaEHht7Bt1b/BU1/5RTvRkZvowCUWohJ9Rc7PlHu+QdM5VZwKMwPwc9pMMTsXgF+10eYRBAWsBr6G9frNh5FFOz0ggi6eKBJKPpmPeqD7+UHfeqr8N6tLG1XOZy8bgv4Uub63rmRsNFmNiuLcgbbnm87vDB+vN7bVpsRQhAS2xOXOCJQ0cdHj0kzU7C0hozLffUvQ+MEX8pucwkkIntY4bqX8ZWmHvCSTtjGetpF15OeOMmPrKaSbdsbqsIFH8mDH6jsfJ0gWwJMDbGxzwaOxFktqjZ5wGHrxy8zbqmij17aFfN+udjSV22iJ0rWp/Xjw5l3OfMA/WZgz/jbeVemTrVatskhy8ydPK2T/w6vVyHM4RU5PZuUDZJuhe9JIgkvSvXIzxAjnmZ3zSoRMMHjj6ZX6Yjacesdnp3RRTj0Xj7ZgeSCr9vipFx6zPgljNDCO5sdlb6lsjvvnD5B82ecSpylv/JH3rW/DbeUuevAvxp7foYic7QubXlULzP80XCdvIUXpZhzUOXmlwH/raiM7VumJHWww4r3AS9tu8uHzHVK3nuXnakk+8Ux0HTJshdf3BZ2kg8EuRc5PtEx+DFLa5lN8idG1JJfj7wIQlY7jpx7yW9DGTZj8ekbHHzkoi/HIFap6+lu9R6c4Qn8XznsG2EsHVSeVbLAvHRxh1KTlFdyJLYLtibQLHzPEQKC3HFiPqwE0BeYvmgltuwlfskSNn+B+nqVfvp7lFBJtVa2MktXLHmvwyC8cyx1PXRkHTWQbY2IDpW9OoopZtG5jOwQkYtAFSs1OQPtvEEOeZyxQOZu7O8cS5ROk7CFGi3rolh6Z0hd8AOBKnOgMWL2lPc5cXuECn9Mrg3Yq9k/rMTx2bVF1vCqh49azhqOBWJdWhW+VEsZ6J9Syrscb7IjoKEMqwN9K6+99aM4j4qBo8XtpenctolVoe7OPcaU/NjNX6UzFBhDkx9Vy4UVOerL5NGSB8aLmlnIgYE9w+jOr5xq+GMa4v0zj8tZ5HqRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NkGxVgXR79iWRKEt1aCpnd",
      "input": {
        "note": "Empty close (0.01): the bottle has been nudged to the arm's right and now sits ~7 cm right of the jaws (visible right of the arm in the top view). Lifting and opening before shifting right over it.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.43,
          "right_y": 0.248,
          "right_yaw": 0.0,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01NkGxVgXR79iWRKEt1aCpnd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.8845, 0.9016, -0.5896, -0.0479, -0.0349, 0.9968, 0.7078, 1.8118, 1.776, -0.6895, 0.5686, 0.4019, 0.9949]\nstate[eef_state]: left_x=0.3042 left_y=0.0012 left_z=0.2471 left_yaw=0.0162 left_pitch=-0.0124 left_roll=-0.0019 left_gripper=0.9968 right_x=0.4348 right_y=0.2516 right_z=0.2745 right_yaw=0.0166 right_pitch=-0.0332 right_roll=-0.0208 right_gripper=0.9949\nstate[joint_eff]: [-0.0752, -1.5248, 6.9675, 1.7558, -0.0611, -0.0073, -0.0122, 0.6222, -11.0974, 9.4427, 1.453, 0.3199, 0.0708, -0.149]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75b0ae2aebeabf84d5f259990f820712e0b1663c59e85788c38dfe39084bd580",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f9f9f7198214df6a6e24439218aec1a68aeafbab66790a48388be50a30559dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4bdc7739d951a8898b2232adb84b1576076417631124ffe98502fa6ff673e7f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 45 attempt 0 · /messages · status 200 · 11.17 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 127 changed as sent

message 130 changed as sent

message 133 changed as sent

message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.8845, 0.9016, -0.5896, -0.0479, -0.0349, 0.9968, 0.7109, 1.8454, 1.4227, -0.379, 0.5755, 0.411, 0.9994]\nstate[eef_state]: left_x=0.3042 left_y=0.0012 left_z=0.2471 left_yaw=0.0162 left_pitch=-0.0124 left_roll=-0.0019 left_gripper=0.9968 right_x=0.4329 right_y=0.2506 right_z=0.1636 right_yaw=0.0066 right_pitch=-0.0884 right_roll=-0.0661 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -1.7299, 7.1179, 1.7411, -0.0415, -0.0366, -0.0073, -0.9368, -13.0667, 7.3231, 1.6972, 0.2906, -0.0317, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.8845, 0.9016, -0.59, -0.0479, -0.0341, 0.9968, 0.7074, 1.8408, 1.3956, -0.3691, 0.564, 0.4038, 0.0117]\nstate[eef_state]: left_x=0.3042 left_y=0.0011 left_z=0.247 left_yaw=0.0154 left_pitch=-0.0128 left_roll=-0.0012 left_gripper=0.9968 right_x=0.4299 right_y=0.2481 right_z=0.1557 right_yaw=0.0148 right_pitch=-0.1037 right_roll=-0.0737 right_gripper=0.0117\nstate[joint_eff]: [-0.0752, -1.6342, 7.1043, 1.7998, -0.0562, -0.0513, -0.0122, -0.0889, -9.5521, 8.841, 1.4042, 0.3101, 0.0806, 0.9451]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.8845, 0.9016, -0.5896, -0.0479, -0.0349, 0.9968, 0.7078, 1.8118, 1.776, -0.6895, 0.5686, 0.4019, 0.9949]\nstate[eef_state]: left_x=0.3042 left_y=0.0012 left_z=0.2471 left_yaw=0.0162 left_pitch=-0.0124 left_roll=-0.0019 left_gripper=0.9968 right_x=0.4348 right_y=0.2516 right_z=0.2745 right_yaw=0.0166 right_pitch=-0.0332 right_roll=-0.0208 right_gripper=0.9949\nstate[joint_eff]: [-0.0752, -1.5248, 6.9675, 1.7558, -0.0611, -0.0073, -0.0122, 0.6222, -11.0974, 9.4427, 1.453, 0.3199, 0.0708, -0.149]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75b0ae2aebeabf84d5f259990f820712e0b1663c59e85788c38dfe39084bd580",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f9f9f7198214df6a6e24439218aec1a68aeafbab66790a48388be50a30559dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bdc7739d951a8898b2232adb84b1576076417631124ffe98502fa6ff673e7f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS8ggKEAgRGAI4AUIIdGhpbmtpbmcSDEa37DjMDdsNYYHYjxoMu4S0EqZ3BJTcV1IRIjB1T2sVJb3+hsnlydVGFI5NPanNE1dH4emuSlQxJLWbG4FYo6QqfddViZod8SgXioUqjwgT/HrFyLAr4NYc5rYOA/nuJHD83ZlqL8f3yD27p24l8nPn2EuvNklXhcDKIQ6wKasagZSy5+3nyZLOHKJ7TzjkzaFjBVgpJ3y3BI6XSVRlstSrwTFHc8Xfq1uoEkB1TYE8fE2MXGfWUCdafN0sl+CKRLAHtnIPKYNvtz3oQHhG3wztewDT/0wcGL9eE6tSbLFqw2SOBjxo4KYKZISJtwv982J9CGwgnq/ggQqZrh6AA06dByoEStrKzDFgJsYFAQah9zid5BqA/ZjRi7R5YTQw9rlZe5HGHY/0I32RmewlH6xFo6N7+TBf5XobROB8IDX6EVpqeRT7hFzIbSwUy+84kfVbAQ/MoYRGu8eaJPl6z7fMe2YDk28zK1anVown7KEBrcH7hPXmWip2m0+pfIVwCAVqwpy2fIbQvRmggaYQCnUTYsP2b2T8tRiwb6ccArCmtAlCtnHqTf533qhUstGswnssRCPfNE+I195XljdCWjwF98gXlRcRf/kW+BpbNAYPNrBIN1SAagO+mssefolKxBlyqV9ZZh1yPetLHEqRPODc2S5g00z0iRfDEvqA4hM0pYSIvgum3t5lZUW14UD78QUFm6P/xLsNUI5O1bcpsEV7ak7AGu+pW968Eq4U7aFXlo2V9iOcQwlj+2dXqgR3nK12rF0W0ND0an6JgxJRkjM84kfmcS7bFMqzgzXYMCJ/mG7AwseDV/I3pS6EtHRfwvl8SrQd6RVsBV7mUJnQNrgsA74ttQRvPyQ7siIfg7+rt+bL+UgLWnTGIxXkls+QPJRv1xz4rUb2b4QU64YyN96ZCOeqRj6OTicu1yK1Kq1C1BOO5eSidG3s7wXDQOuIhFftD/SqbwYpPKnk305Hma56RQBA6TPNPebS6/iyQAzI3BJL4Ixa5ds1X+0n+pdqkuAfrb8pzCr9EiOJcV6Zjo7qr2YekGCNi/GFdlrmmf6RKfjoZ7BQUlUMqDZW/mweE2f0XplcKDp6JFVq55JFgYMEAs6pQUB0xPBqaKd7d/SZHH3a/xuogHsmI5Dfjdptw4RS6Q6zY3NloA4XyyUvZ/eG/7SIalo4Jy8iBr/e7q5VPQillkoGlB+Bzr2XyBdvMYvJoIUhPXROdeOu/fs4VCVb5MYKjPEie7XRgT8b/U7CmW9t7QMGctkiPNXhpffxj6k63q4eD6I+k0ZGKa7Sw5FsDN/ScR5JDC+McSn5af8wfbQy7n6cKbHE50Wh7jaXsoZ+VKyKU8GwAErZnrOzt09Iqc5HgfEH7F4chiR/yC9G30KQe++S95B8tn9k80aecnKHVgfgc+k4w+Ifj8uGaKZMJX8NsUBTrNAiLnwXVRn0MK58MdtSbPKt1jedECH15EmredwuqZ06DrZHxJV5GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EQKMRyusPCTnBxG1cZ2BwF",
      "input": {
        "note": "From above, the bottle cap sits ~5 cm right of the jaw column at the bottom of the right wrist view. Shifting right 5 cm and descending with open jaws around the neck.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.43,
          "right_y": 0.2,
          "right_yaw": 0.0,
          "right_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01EQKMRyusPCTnBxG1cZ2BwF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.889, 0.9016, -0.5896, -0.0475, -0.0345, 0.9968, 0.6201, 1.697, 1.2419, -0.3241, 0.5106, 0.3508, 0.9988]\nstate[eef_state]: left_x=0.3049 left_y=0.0011 left_z=0.2458 left_yaw=0.0157 left_pitch=-0.017 left_roll=-0.0015 left_gripper=0.9968 right_x=0.4218 right_y=0.1995 right_z=0.1627 right_yaw=-0.0017 right_pitch=-0.1013 right_roll=-0.0638 right_gripper=0.9988\nstate[joint_eff]: [-0.0889, -2.0308, 6.8171, 1.746, -0.0317, -0.0611, -0.0122, -0.5402, -11.3846, 7.5692, 1.9512, 0.1538, -0.1294, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5252716b11223b30c3f155bd8b1476597868ed445eeb6ea064b92519ae6e85fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb252d5aacfdd1c31ceed4801f2ad570e89afef2864aa270333b8b3ff909522a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cef9ac8c16b73408bc661dae08c9b7360e3c22cd8d51d99ae2e7511d37265002",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 46 attempt 0 · /messages · status 200 · 13.45 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 130 changed as sent

message 133 changed as sent

message 136 changed as sent

message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.8845, 0.9016, -0.59, -0.0479, -0.0341, 0.9968, 0.7074, 1.8408, 1.3956, -0.3691, 0.564, 0.4038, 0.0117]\nstate[eef_state]: left_x=0.3042 left_y=0.0011 left_z=0.247 left_yaw=0.0154 left_pitch=-0.0128 left_roll=-0.0012 left_gripper=0.9968 right_x=0.4299 right_y=0.2481 right_z=0.1557 right_yaw=0.0148 right_pitch=-0.1037 right_roll=-0.0737 right_gripper=0.0117\nstate[joint_eff]: [-0.0752, -1.6342, 7.1043, 1.7998, -0.0562, -0.0513, -0.0122, -0.0889, -9.5521, 8.841, 1.4042, 0.3101, 0.0806, 0.9451]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.8845, 0.9016, -0.5896, -0.0479, -0.0349, 0.9968, 0.7078, 1.8118, 1.776, -0.6895, 0.5686, 0.4019, 0.9949]\nstate[eef_state]: left_x=0.3042 left_y=0.0012 left_z=0.2471 left_yaw=0.0162 left_pitch=-0.0124 left_roll=-0.0019 left_gripper=0.9968 right_x=0.4348 right_y=0.2516 right_z=0.2745 right_yaw=0.0166 right_pitch=-0.0332 right_roll=-0.0208 right_gripper=0.9949\nstate[joint_eff]: [-0.0752, -1.5248, 6.9675, 1.7558, -0.0611, -0.0073, -0.0122, 0.6222, -11.0974, 9.4427, 1.453, 0.3199, 0.0708, -0.149]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.889, 0.9016, -0.5896, -0.0475, -0.0345, 0.9968, 0.6201, 1.697, 1.2419, -0.3241, 0.5106, 0.3508, 0.9988]\nstate[eef_state]: left_x=0.3049 left_y=0.0011 left_z=0.2458 left_yaw=0.0157 left_pitch=-0.017 left_roll=-0.0015 left_gripper=0.9968 right_x=0.4218 right_y=0.1995 right_z=0.1627 right_yaw=-0.0017 right_pitch=-0.1013 right_roll=-0.0638 right_gripper=0.9988\nstate[joint_eff]: [-0.0889, -2.0308, 6.8171, 1.746, -0.0317, -0.0611, -0.0122, -0.5402, -11.3846, 7.5692, 1.9512, 0.1538, -0.1294, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5252716b11223b30c3f155bd8b1476597868ed445eeb6ea064b92519ae6e85fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb252d5aacfdd1c31ceed4801f2ad570e89afef2864aa270333b8b3ff909522a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cef9ac8c16b73408bc661dae08c9b7360e3c22cd8d51d99ae2e7511d37265002",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018mtE2tfFBpqNJHSAmnPRFZ",
      "input": {
        "note": "The bottle cap still appears right of the jaw column even after shifting 5 cm, which may be a near-field camera offset. Closing to test whether the neck is actually between the jaws.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_018mtE2tfFBpqNJHSAmnPRFZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.8894, 0.9016, -0.5903, -0.0479, -0.0345, 0.9968, 0.6159, 1.6943, 1.2163, -0.3214, 0.5034, 0.3435, 0.011]\nstate[eef_state]: left_x=0.3048 left_y=0.0012 left_z=0.2455 left_yaw=0.016 left_pitch=-0.0181 left_roll=-0.0012 left_gripper=0.9968 right_x=0.4181 right_y=0.1959 right_z=0.1535 right_yaw=0.0023 right_pitch=-0.121 right_roll=-0.077 right_gripper=0.011\nstate[joint_eff]: [-0.0342, -1.4564, 6.7761, 1.7802, -0.0659, -0.0171, -0.0122, -0.0068, -8.212, 8.7316, 1.4921, 0.2711, 0.0806, 0.9597]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35b672e3d1fdcf0647b4dfe01f57f79b0ca2fe34b4a08f113b62a99c176b55b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74fa0ef9f49b3ec4740857fe7b60f7ebac35a77024216c3c65dca4d19d011da6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f0cb15eec1aa443bb16268e95a3c21d09b6c5bbf31187f0ba5905e6040ce13aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 47 attempt 0 · /messages · status 200 · 8.148 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 133 changed as sent

message 136 changed as sent

message 139 changed as sent

message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.8845, 0.9016, -0.5896, -0.0479, -0.0349, 0.9968, 0.7078, 1.8118, 1.776, -0.6895, 0.5686, 0.4019, 0.9949]\nstate[eef_state]: left_x=0.3042 left_y=0.0012 left_z=0.2471 left_yaw=0.0162 left_pitch=-0.0124 left_roll=-0.0019 left_gripper=0.9968 right_x=0.4348 right_y=0.2516 right_z=0.2745 right_yaw=0.0166 right_pitch=-0.0332 right_roll=-0.0208 right_gripper=0.9949\nstate[joint_eff]: [-0.0752, -1.5248, 6.9675, 1.7558, -0.0611, -0.0073, -0.0122, 0.6222, -11.0974, 9.4427, 1.453, 0.3199, 0.0708, -0.149]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.889, 0.9016, -0.5896, -0.0475, -0.0345, 0.9968, 0.6201, 1.697, 1.2419, -0.3241, 0.5106, 0.3508, 0.9988]\nstate[eef_state]: left_x=0.3049 left_y=0.0011 left_z=0.2458 left_yaw=0.0157 left_pitch=-0.017 left_roll=-0.0015 left_gripper=0.9968 right_x=0.4218 right_y=0.1995 right_z=0.1627 right_yaw=-0.0017 right_pitch=-0.1013 right_roll=-0.0638 right_gripper=0.9988\nstate[joint_eff]: [-0.0889, -2.0308, 6.8171, 1.746, -0.0317, -0.0611, -0.0122, -0.5402, -11.3846, 7.5692, 1.9512, 0.1538, -0.1294, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.8894, 0.9016, -0.5903, -0.0479, -0.0345, 0.9968, 0.6159, 1.6943, 1.2163, -0.3214, 0.5034, 0.3435, 0.011]\nstate[eef_state]: left_x=0.3048 left_y=0.0012 left_z=0.2455 left_yaw=0.016 left_pitch=-0.0181 left_roll=-0.0012 left_gripper=0.9968 right_x=0.4181 right_y=0.1959 right_z=0.1535 right_yaw=0.0023 right_pitch=-0.121 right_roll=-0.077 right_gripper=0.011\nstate[joint_eff]: [-0.0342, -1.4564, 6.7761, 1.7802, -0.0659, -0.0171, -0.0122, -0.0068, -8.212, 8.7316, 1.4921, 0.2711, 0.0806, 0.9597]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35b672e3d1fdcf0647b4dfe01f57f79b0ca2fe34b4a08f113b62a99c176b55b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74fa0ef9f49b3ec4740857fe7b60f7ebac35a77024216c3c65dca4d19d011da6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0cb15eec1aa443bb16268e95a3c21d09b6c5bbf31187f0ba5905e6040ce13aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ABqAngEqSKkKBiiKkaWQrr",
      "input": {
        "note": "Empty again; the right jaw has been landing on the bottle's shoulder and nudging it right each descent, so the bottle centre is really ~6 cm right of the jaws (near-field scale is ~16 px/cm). Lifting clear and opening before shifting right.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.42,
          "right_y": 0.196,
          "right_yaw": 0.0,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01ABqAngEqSKkKBiiKkaWQrr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.8902, 0.9016, -0.59, -0.0479, -0.0341, 0.9968, 0.6155, 1.6474, 1.5738, -0.6228, 0.5003, 0.3355, 0.9948]\nstate[eef_state]: left_x=0.305 left_y=0.0011 left_z=0.2453 left_yaw=0.0154 left_pitch=-0.0185 left_roll=-0.0009 left_gripper=0.9968 right_x=0.4238 right_y=0.2003 right_z=0.2728 right_yaw=0.0132 right_pitch=-0.0379 right_roll=-0.0228 right_gripper=0.9948\nstate[joint_eff]: [-0.1983, -1.7573, 6.9402, 1.7802, -0.0757, -0.0073, -0.0122, -0.1162, -10.1402, 9.5932, 1.3993, 0.2613, 0.0464, -0.0904]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2018096a66718d76f74c0b1117a1e774136079d29762ec73a0852b5b1281854",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6dc4b8a3d0d5dfc26d7e9ff951df7517fab86f0622b5c6e195398e4482116e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ed75053eae4bad6464b8b151059169490a00054725dd62c2283570148bede6a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 48 attempt 0 · /messages · status 200 · 9.417 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 136 changed as sent

message 139 changed as sent

message 142 changed as sent

message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.889, 0.9016, -0.5896, -0.0475, -0.0345, 0.9968, 0.6201, 1.697, 1.2419, -0.3241, 0.5106, 0.3508, 0.9988]\nstate[eef_state]: left_x=0.3049 left_y=0.0011 left_z=0.2458 left_yaw=0.0157 left_pitch=-0.017 left_roll=-0.0015 left_gripper=0.9968 right_x=0.4218 right_y=0.1995 right_z=0.1627 right_yaw=-0.0017 right_pitch=-0.1013 right_roll=-0.0638 right_gripper=0.9988\nstate[joint_eff]: [-0.0889, -2.0308, 6.8171, 1.746, -0.0317, -0.0611, -0.0122, -0.5402, -11.3846, 7.5692, 1.9512, 0.1538, -0.1294, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.8894, 0.9016, -0.5903, -0.0479, -0.0345, 0.9968, 0.6159, 1.6943, 1.2163, -0.3214, 0.5034, 0.3435, 0.011]\nstate[eef_state]: left_x=0.3048 left_y=0.0012 left_z=0.2455 left_yaw=0.016 left_pitch=-0.0181 left_roll=-0.0012 left_gripper=0.9968 right_x=0.4181 right_y=0.1959 right_z=0.1535 right_yaw=0.0023 right_pitch=-0.121 right_roll=-0.077 right_gripper=0.011\nstate[joint_eff]: [-0.0342, -1.4564, 6.7761, 1.7802, -0.0659, -0.0171, -0.0122, -0.0068, -8.212, 8.7316, 1.4921, 0.2711, 0.0806, 0.9597]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.8902, 0.9016, -0.59, -0.0479, -0.0341, 0.9968, 0.6155, 1.6474, 1.5738, -0.6228, 0.5003, 0.3355, 0.9948]\nstate[eef_state]: left_x=0.305 left_y=0.0011 left_z=0.2453 left_yaw=0.0154 left_pitch=-0.0185 left_roll=-0.0009 left_gripper=0.9968 right_x=0.4238 right_y=0.2003 right_z=0.2728 right_yaw=0.0132 right_pitch=-0.0379 right_roll=-0.0228 right_gripper=0.9948\nstate[joint_eff]: [-0.1983, -1.7573, 6.9402, 1.7802, -0.0757, -0.0073, -0.0122, -0.1162, -10.1402, 9.5932, 1.3993, 0.2613, 0.0464, -0.0904]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2018096a66718d76f74c0b1117a1e774136079d29762ec73a0852b5b1281854",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6dc4b8a3d0d5dfc26d7e9ff951df7517fab86f0622b5c6e195398e4482116e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed75053eae4bad6464b8b151059169490a00054725dd62c2283570148bede6a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqwgKEAgRGAI4AUIIdGhpbmtpbmcSDEEpqN/blH8bCKPOHhoM3AuhaG4b/dNBGn3FIjBLO6CUMm47YAZbufouSjtDFroOPki8fTynIkSE1pVAMQKGhfx3cjc8f2GG2dcNsXwqyAedlSZ89x+osC9mP71huOF8TGCaOVciqHw0oUJArctort3wE8VxDZ23fezKTzkrMiNYOcfzD/NyGQyhan3gnkqg3siEnTNqgN6FWGd5nQMUFrJtoBA3lNmoDESQlsHeugoHSWJyd6hDzu5t1CvjX8lwsn2Hc9RcDLCSGzLlonE9d4Or+pPm3nywjtqbBXsl9dXCichSga5UoCRXo66KOip8kchCYrIi8Tsa7Nw4eUn/O4XZuWhmVsehaI2SmHnC/F9p3CySpOwT6bgFsyBYC+JT1Uc1gmj+1+GiL8QvpoVicZeEZtuLW3bn1SLiHsAJv8dsxWjK7QQiL+nmUu6JOMVdgj288r51kjKecdqZBR9kTN/26fm7D+5yZ4lh4UUSqGZMSJFRhDyC7He9QG22Vu4rg7xNSMNsC97p1Kfg5vV47GI38TOaCixdiLctBD/6fJLt2P3YLh4CLuWpbxYZSRtDyDNau9N6hRorJaZxq5eMpd6hhJa2fwIW0ityGTQkt/Abi323k2mp2YCcOHEHPnB3jbyqKeV2Nk7GkuEyOAInX7y6or1R9jB+A/xWpIuvXdOF+8U1E5Bkjqn/It/AuduJ9mGUIwiKiIdv6kWFwTXESVoepdrR5RYKcIoODvBxLhyJcrsC3/KyzteMGc0HNSCg751aqTdxE477KGvlV8X/6xJQg6+Z3aaDL8FtvzHXgbm1CFK/f06MERFeGaQj2epaGRF2TwQ7POuhWUWD+czXAtCL3+t7g+09vglsF2sE9Z7IZwr6sNSvx+ojIAfw7W831/yeh/961pmWqUGGGbQ6+5F8JTF4a1HU1XVXkl7GniR6njND+ry/po26lOfuz/ysIZy7XrKhkxT1EE59FrrPvb1Obu1aMpRaH7Fu7LL6JHvV6Ya/K6i9XvacxRXhKK7awR30SxO2F/uovfiJWVfdcgs8IGS7FRfpp2CGiwmSB9uRccPG+viKFieQMASvJmKcp8o7TsqPkEz4sl9zyP0HbQpCanUiWG4K3Pi9qRH8wUHaR6iw0V9SNl4Xpt8c68Dt15sfN5DTH2MwDIpSe+7MTVMZqdnkJpOyEsU7YYTL2I7q3nza5CduW4SX0BMkSODVuW9V/WzyInIOoYAE6hiPX4fz3oNProF3R3NLFZrpfkjR2Mj8waebU+w4DkyhkPpGc/EeyXG6j8D9BAxCC0i0bxEAV0+Md07iPU5aDdq2UeG3GikDDwhkk5nzM2c9C4i9LevyJbc7o+eW+KNamjXlDIzvF2Py3Mwqe+2LrA4kIJ3flbKJCGFe3xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016G3iAyDvQvhfd896KC4ZnJ",
      "input": {
        "note": "Bottle cap now appears ~80 px right of the jaw column from 12 cm above (~6.5 cm). Shifting right by that amount and descending with open jaws around the neck.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.42,
          "right_y": 0.135,
          "right_yaw": 0.0,
          "right_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_016G3iAyDvQvhfd896KC4ZnJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.894, 0.9016, -0.5892, -0.0475, -0.0338, 0.9968, 0.4671, 1.5257, 1.0634, -0.2703, 0.3977, 0.2535, 0.9988]\nstate[eef_state]: left_x=0.3056 left_y=0.0011 left_z=0.2444 left_yaw=0.0153 left_pitch=-0.0215 left_roll=-0.0006 left_gripper=0.9968 right_x=0.4108 right_y=0.1346 right_z=0.1645 right_yaw=-0.0111 right_pitch=-0.1052 right_roll=-0.05 right_gripper=0.9988\nstate[joint_eff]: [-0.0342, -2.0308, 6.8718, 1.7118, -0.0366, -0.0269, -0.0073, -0.4444, -8.9231, 7.747, 2.0488, 0.0562, -0.0464, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9b82768a883a601afda434fe71e183bc2f91d58755e39619f1dad6712966a73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98d517ae747b344291ce90ed94ded6c050373d400f3416e1769cb9d9df17d80b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6ecb88c3d35f29be0dc9d2f99391567f7049bdd6f82e09ce91c49e28cb084f4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 49 attempt 0 · /messages · status 200 · 14.88 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 139 changed as sent

message 142 changed as sent

message 145 changed as sent

message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.8894, 0.9016, -0.5903, -0.0479, -0.0345, 0.9968, 0.6159, 1.6943, 1.2163, -0.3214, 0.5034, 0.3435, 0.011]\nstate[eef_state]: left_x=0.3048 left_y=0.0012 left_z=0.2455 left_yaw=0.016 left_pitch=-0.0181 left_roll=-0.0012 left_gripper=0.9968 right_x=0.4181 right_y=0.1959 right_z=0.1535 right_yaw=0.0023 right_pitch=-0.121 right_roll=-0.077 right_gripper=0.011\nstate[joint_eff]: [-0.0342, -1.4564, 6.7761, 1.7802, -0.0659, -0.0171, -0.0122, -0.0068, -8.212, 8.7316, 1.4921, 0.2711, 0.0806, 0.9597]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.8902, 0.9016, -0.59, -0.0479, -0.0341, 0.9968, 0.6155, 1.6474, 1.5738, -0.6228, 0.5003, 0.3355, 0.9948]\nstate[eef_state]: left_x=0.305 left_y=0.0011 left_z=0.2453 left_yaw=0.0154 left_pitch=-0.0185 left_roll=-0.0009 left_gripper=0.9968 right_x=0.4238 right_y=0.2003 right_z=0.2728 right_yaw=0.0132 right_pitch=-0.0379 right_roll=-0.0228 right_gripper=0.9948\nstate[joint_eff]: [-0.1983, -1.7573, 6.9402, 1.7802, -0.0757, -0.0073, -0.0122, -0.1162, -10.1402, 9.5932, 1.3993, 0.2613, 0.0464, -0.0904]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.894, 0.9016, -0.5892, -0.0475, -0.0338, 0.9968, 0.4671, 1.5257, 1.0634, -0.2703, 0.3977, 0.2535, 0.9988]\nstate[eef_state]: left_x=0.3056 left_y=0.0011 left_z=0.2444 left_yaw=0.0153 left_pitch=-0.0215 left_roll=-0.0006 left_gripper=0.9968 right_x=0.4108 right_y=0.1346 right_z=0.1645 right_yaw=-0.0111 right_pitch=-0.1052 right_roll=-0.05 right_gripper=0.9988\nstate[joint_eff]: [-0.0342, -2.0308, 6.8718, 1.7118, -0.0366, -0.0269, -0.0073, -0.4444, -8.9231, 7.747, 2.0488, 0.0562, -0.0464, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9b82768a883a601afda434fe71e183bc2f91d58755e39619f1dad6712966a73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98d517ae747b344291ce90ed94ded6c050373d400f3416e1769cb9d9df17d80b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ecb88c3d35f29be0dc9d2f99391567f7049bdd6f82e09ce91c49e28cb084f4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS/wkKEAgRGAI4AUIIdGhpbmtpbmcSDOofectNkrssHj37nhoMz5vVqKAbWKt4ClTHIjDILtVv9yiljdI+V5vsTTWDhUxKsuwYToM7eSVAUBKfudROLarrPAXB2k3xreHV8a0qnAnpHMgYch99GaPAnfy1Ny3lUs9Ga6GLRw4rFLaeFIddQ1jBv7vkG7D5fifcWzsGWB14XX/s4Om8OC3OXYk4XS9LQSA05DIOJnuwSnq5IxJO1YR8GmEvwgQCH0Mc3weY3MKNUAZQ9uc4q2JGumJmUevRu9qnyfVaJiVuMXcwt5KLDHXqk/3w5y9xFUTmPoQZ0yiloq04H5kIKyrfzzCDju0HHh9OeZHXmpbxhRnVfe3PQOoV/v98VqDGZ/Eo5wIDRCTrxw+hR+wfFjYcVPQXLSA8UjkHDSwWKzu4UshE9QFqVgxkeQ7vktpvPlWh8RMX8XD/tl8eJ5RnZ8gNXG9HI3k11dugJT2rRp7rSQV9ct1L0FJ0md49KVj3DgsarWl4yUGSJPtACQSOmkc+MQOs9MC6fBa/U27x8bTrbHigcF9Bx4Xxv2Q22/5VAMgHGvMwK5lm+u9VU/GHLRht1aC7tRuM0Lzrp7HRsVRCuhD5p1AVLA7ImHB7CcWuSBz1n9PrcdLE1BoFN9Jg6e27eNsf1Stgq+Ru+I6vMw1Bot2l4MI2xG9AwvwhJjoqWHVk28GeYolU8OZ4A8vcCxyZuEvkj1aBE4qS2m9+XXzj/P6teJtk11ejBbBbEK2rQIaqwD8p07GzwpWmUiHrcta9+nDT5W2zZJfxHv8Fw0+hB9goFbaSp/6RpBTREV+0532rG+Go20RC21Oy/Mib6aULsK1AWrQI6EqltYiWK4T115y/OTLDbYBxF3wfqB0L5tvFrjWgw2PgV9nGZRAvDgWaOXEmOesuIbdhGj2uOB+h1uBNyXEO6RW4EN+UiocsuQCoasWdylgerbC8XeO0DLE5Qr0jA8nv6zhVta39AuL1c1wv8NtQMApQZ3rM9rBCV4pXGIktfmmINrLcNEIgce1ncrqsXN3pwklOPV5Om1N7sbqCi2uP6T3ZCkcZYkHo0WzRSMnusVbNxhYlsTRxwogr4dv7ZysNBp4yCiRLYsI0L64hOqG6VhAYvte2tL5QmPpZgejqv6fzrJcIabRuThAkosClpl24Wzig6tAFNMCZSSVigsBKa90D/RyvUZduwjx4s5kMYjdjFeosWKj2it61MMCIxIJtAZuzQfADPag3wfzuU+lzw7aL0W4nyBTbES/NHymf2eb8GSsG9syjvesaMQKB8DG/2jiUiDKA1jWQDHh6gNZDOj8rU8obhoLtXh2T680rQYSTeCvd5GdKmsKKLuy3YU5Z5YffEmU9V1Yy2QzOMyYDBxEjuWy5KMaTtgKo7MDlE33FS09yZDcWKBpCUX/NJh4DqeHq+Y7oLJTMA3L1HJy97MADnB3MtqY1YkeiUex0/dySwz6zdAF2FfE9eVMXiObwxwnxTeueavEiWzBrmX4/8+66xzdAwvODnfllQ9LwnTdT6HZ61GE6jQZ8t7doPJbdEdLgm8QIySm/72FTVnF+kblOmPfWUSDhVoclOkA7WNvE+U+qkiMBGuR2VHF6IQ/mXuty9Ke1N6WjKgvTirKw66WrOPDjtC/NTINPBlQu4pFwqXYLLdC8LT5sQWhT/Xgf+y6XO20wvjQ3GpeVGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016iJRRVJck8PwBYtRE72MRY",
      "input": {
        "note": "The gripper now sits directly over where the bottle stands in the top view, though the wrist camera still shows the cap to the right (likely a near-field camera offset). Closing to test the grasp.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_016iJRRVJck8PwBYtRE72MRY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.8948, 0.9016, -0.5896, -0.0479, -0.0345, 0.9968, 0.4587, 1.5261, 1.0405, -0.2726, 0.3832, 0.2466, 0.0112]\nstate[eef_state]: left_x=0.3056 left_y=0.001 left_z=0.2441 left_yaw=0.0157 left_pitch=-0.0227 left_roll=-0.001 left_gripper=0.9968 right_x=0.4068 right_y=0.1312 right_z=0.1537 right_yaw=-0.0056 right_pitch=-0.1327 right_roll=-0.0582 right_gripper=0.0112\nstate[joint_eff]: [-0.1983, -1.7162, 6.8034, 1.7656, -0.0659, -0.0513, -0.0073, 0.5538, -7.0906, 8.5675, 1.6093, 0.3053, 0.1001, 0.9646]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4edd58fd9701b40194a7bc82d9cab06e212047b6ab30a335fe981a4ee76315b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dccd83124e6eba590a3b836479baaff363e10797695c51834969d2d4753255da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e58cbc13b8254eceffcfd7a062f52c82541fabd0f7cd0fd870c1b698c5a27f11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 50 attempt 0 · /messages · status 200 · 8.553 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 142 changed as sent

message 145 changed as sent

message 148 changed as sent

message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.8902, 0.9016, -0.59, -0.0479, -0.0341, 0.9968, 0.6155, 1.6474, 1.5738, -0.6228, 0.5003, 0.3355, 0.9948]\nstate[eef_state]: left_x=0.305 left_y=0.0011 left_z=0.2453 left_yaw=0.0154 left_pitch=-0.0185 left_roll=-0.0009 left_gripper=0.9968 right_x=0.4238 right_y=0.2003 right_z=0.2728 right_yaw=0.0132 right_pitch=-0.0379 right_roll=-0.0228 right_gripper=0.9948\nstate[joint_eff]: [-0.1983, -1.7573, 6.9402, 1.7802, -0.0757, -0.0073, -0.0122, -0.1162, -10.1402, 9.5932, 1.3993, 0.2613, 0.0464, -0.0904]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.894, 0.9016, -0.5892, -0.0475, -0.0338, 0.9968, 0.4671, 1.5257, 1.0634, -0.2703, 0.3977, 0.2535, 0.9988]\nstate[eef_state]: left_x=0.3056 left_y=0.0011 left_z=0.2444 left_yaw=0.0153 left_pitch=-0.0215 left_roll=-0.0006 left_gripper=0.9968 right_x=0.4108 right_y=0.1346 right_z=0.1645 right_yaw=-0.0111 right_pitch=-0.1052 right_roll=-0.05 right_gripper=0.9988\nstate[joint_eff]: [-0.0342, -2.0308, 6.8718, 1.7118, -0.0366, -0.0269, -0.0073, -0.4444, -8.9231, 7.747, 2.0488, 0.0562, -0.0464, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.8948, 0.9016, -0.5896, -0.0479, -0.0345, 0.9968, 0.4587, 1.5261, 1.0405, -0.2726, 0.3832, 0.2466, 0.0112]\nstate[eef_state]: left_x=0.3056 left_y=0.001 left_z=0.2441 left_yaw=0.0157 left_pitch=-0.0227 left_roll=-0.001 left_gripper=0.9968 right_x=0.4068 right_y=0.1312 right_z=0.1537 right_yaw=-0.0056 right_pitch=-0.1327 right_roll=-0.0582 right_gripper=0.0112\nstate[joint_eff]: [-0.1983, -1.7162, 6.8034, 1.7656, -0.0659, -0.0513, -0.0073, 0.5538, -7.0906, 8.5675, 1.6093, 0.3053, 0.1001, 0.9646]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4edd58fd9701b40194a7bc82d9cab06e212047b6ab30a335fe981a4ee76315b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dccd83124e6eba590a3b836479baaff363e10797695c51834969d2d4753255da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e58cbc13b8254eceffcfd7a062f52c82541fabd0f7cd0fd870c1b698c5a27f11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013JM2xpZdV5bATjPceuNRkN",
      "input": {
        "note": "Empty close again; the bottle keeps getting nudged rightward by the descending right jaw and now sits near y≈0.08. Lifting clear and opening; next I will offset a full 7 cm right before descending.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.41,
          "right_y": 0.13,
          "right_yaw": 0.0,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_013JM2xpZdV5bATjPceuNRkN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.8948, 0.9016, -0.5903, -0.0479, -0.0345, 0.9968, 0.4561, 1.4761, 1.3991, -0.5762, 0.3801, 0.2245, 0.9951]\nstate[eef_state]: left_x=0.3055 left_y=0.001 left_z=0.244 left_yaw=0.0157 left_pitch=-0.0234 left_roll=-0.001 left_gripper=0.9968 right_x=0.4133 right_y=0.1337 right_z=0.2736 right_yaw=0.0101 right_pitch=-0.0399 right_roll=-0.0279 right_gripper=0.9951\nstate[joint_eff]: [-0.0479, -1.7299, 6.8171, 1.7656, -0.0855, -0.0073, -0.0122, -0.5538, -8.5128, 9.4154, 1.5751, 0.0366, 0.0513, -0.1978]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 360):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa3285b93c2f1dc69221a28a6d175f06582559459e9424d54de61cd00c153190",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 360):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a7f6f48d776c35639f9de80ed1387feaec986cea2fe44544e2bd03c5a7bcb1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 360):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e2e9cabca3afc979fdf43b676239b27d87da2382232a1af5eb81dd83c6aebfa8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 51 attempt 0 · /messages · status 200 · 5.725 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 145 changed as sent

message 148 changed as sent

message 151 changed as sent

message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.894, 0.9016, -0.5892, -0.0475, -0.0338, 0.9968, 0.4671, 1.5257, 1.0634, -0.2703, 0.3977, 0.2535, 0.9988]\nstate[eef_state]: left_x=0.3056 left_y=0.0011 left_z=0.2444 left_yaw=0.0153 left_pitch=-0.0215 left_roll=-0.0006 left_gripper=0.9968 right_x=0.4108 right_y=0.1346 right_z=0.1645 right_yaw=-0.0111 right_pitch=-0.1052 right_roll=-0.05 right_gripper=0.9988\nstate[joint_eff]: [-0.0342, -2.0308, 6.8718, 1.7118, -0.0366, -0.0269, -0.0073, -0.4444, -8.9231, 7.747, 2.0488, 0.0562, -0.0464, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.8948, 0.9016, -0.5896, -0.0479, -0.0345, 0.9968, 0.4587, 1.5261, 1.0405, -0.2726, 0.3832, 0.2466, 0.0112]\nstate[eef_state]: left_x=0.3056 left_y=0.001 left_z=0.2441 left_yaw=0.0157 left_pitch=-0.0227 left_roll=-0.001 left_gripper=0.9968 right_x=0.4068 right_y=0.1312 right_z=0.1537 right_yaw=-0.0056 right_pitch=-0.1327 right_roll=-0.0582 right_gripper=0.0112\nstate[joint_eff]: [-0.1983, -1.7162, 6.8034, 1.7656, -0.0659, -0.0513, -0.0073, 0.5538, -7.0906, 8.5675, 1.6093, 0.3053, 0.1001, 0.9646]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.8948, 0.9016, -0.5903, -0.0479, -0.0345, 0.9968, 0.4561, 1.4761, 1.3991, -0.5762, 0.3801, 0.2245, 0.9951]\nstate[eef_state]: left_x=0.3055 left_y=0.001 left_z=0.244 left_yaw=0.0157 left_pitch=-0.0234 left_roll=-0.001 left_gripper=0.9968 right_x=0.4133 right_y=0.1337 right_z=0.2736 right_yaw=0.0101 right_pitch=-0.0399 right_roll=-0.0279 right_gripper=0.9951\nstate[joint_eff]: [-0.0479, -1.7299, 6.8171, 1.7656, -0.0855, -0.0073, -0.0122, -0.5538, -8.5128, 9.4154, 1.5751, 0.0366, 0.0513, -0.1978]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 360):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa3285b93c2f1dc69221a28a6d175f06582559459e9424d54de61cd00c153190",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 360):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a7f6f48d776c35639f9de80ed1387feaec986cea2fe44544e2bd03c5a7bcb1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 360):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2e9cabca3afc979fdf43b676239b27d87da2382232a1af5eb81dd83c6aebfa8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqwkKEAgRGAI4AUIIdGhpbmtpbmcSDAyKQtOHQmbtFYH8dRoM36iK+NvmBGE1hwLwIjDrvPgDdNBvi8Sk46L7jMXMjCchRoA0JQU5U0tLc8Ums/Etf1Vo6c9djNMey1Ezi5kqyAhaAbekVUEfU161NveXmwR8znR44BUPKKbuvSI32BD76UOJQL9Y9sgvRSxiZSr9h3M58LQrYKHURAIihTI4so0CqtfRtRrmrI3zQuGAfdLCM/HVpRQ/bRGZA/q92jh82Ibze4iuR6+5wL8ypR7LjFzAcAAc3JlGhjlztT2cuDSr/Q2cEeybwZKciGt9YvZtM0bXsBhabR18oY8uL6P/M6EHUWS5uOdFtrI6H/JXRe/NzBmhTTOI9H/V/jSRxGJp92trPy7IsfMYg+hQCBCw3DDJdne+T1GKUAMIYtf0ajVJAuJgybj0vu4DoicQHiGKHeDWx6Ka4eO3BDiIGhEiz2z2HLSubWK10yFUKq68qOY+qdmEze6gMFJfi77vicSJkhO6gPluIv0V+LcCDlt1OoEg+qW3pWTS0Y+kvpL1S5/P6PFw+Td8WFN9jky6Smg7h95J+67GhEBTOQUMyu1KAOklxCAEIaFd6xQfrmAtWATIWdzfckIN2MQT/yaQHSLCtZkxDsdKTHa7UYqIBdbWVP9bENAs5oM9kGnEfc1PnyQkYBqx7YiTJEMTD7Df8NbemHneN7y9k7EGBeXETPYlAMlZa0cnDg+zMZWbdEVFc7YW4B3JZJZ/+tUjhRtdCG74b9mw2Yxt/lRXDTL21ap0mmjbpvbpSBr0Gmnf/uNLFLXWL9I6cx9v5Nmf41dK15Nzt2JECxxnSK+smiPbriLIIgDKvIoEWoILH3iHEvguC61D+BrTuKSY0ml9WD4nherk7ZDa37SJwgFJHJY7rlrrcj/ZsfHbVArtn22dh3ce9adk2NLGOPdV7m2zyVaqx6oGuIwTIxWNvwylohbfjPzs+EY7CAcnSMtVVJzCwqye8yHt1g2iSi60k5lmSpeQ5eBBMs6izNLJudheqrjcf0mYJDWuKXehK2d/clK8wGa513w+2+wRXj7Ajic30Qz9h/a5h6aWLddFbpaLytaTfhruAu8jcfRm3rEX1m6Whe/I9fryL32hWpodb0xM+faOa+HUMj+UOfyzcAZw7dZnTP8lS1KlGrzZUgNdhy/3k5OWeUQA7ebrXz3vPq689FMSrcGVSmKMBc2hY7hV8nsbHcC8TnlxRrJiB9/nyuYrJcJ25HpOBAaWMvIr4x40MrcBnMLzers3izyNFHTNujrMZhCxb8oWZylkT9slQMbC/w4u6tcMWQREeAG90PEURkpgtIkb09A2mZc+rsRtfVzPnta9/w8Dc4No9Hsp3VjKnOtaY92TVkKoJq2rUdAPYo++/srmH0wtZ+uSTjePbQeyz5vPJcLQJei6DNSkPeoKd2X2aHwF1po+WxVn+nG9jW+PEcJ8mHCNYE5qfzpia+foEzlqghTeOIjccrjA6RoXihk841FLCcXJ0puh4iPKUbjD6HOn/h9X8zPYE/wjCaApH5adxxN1byYhJ3KXVdfpmv7WqDZDbYnAlCJ7YRSpGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012KntVoq5C2o42Z2pwxMpX2",
      "input": {
        "note": "The bottle cap is in the lower-right corner of the right wrist view, roughly 8–9 cm right of the jaws. Shifting right by 8.5 cm and descending with open jaws around the neck.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.4,
          "right_y": 0.05,
          "right_yaw": 0.0,
          "right_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_012KntVoq5C2o42Z2pwxMpX2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.8959, 0.9016, -0.59, -0.0479, -0.0349, 0.9968, 0.2028, 1.3151, 0.902, -0.2291, 0.1928, 0.1055, 0.9988]\nstate[eef_state]: left_x=0.3057 left_y=0.0011 left_z=0.2437 left_yaw=0.0162 left_pitch=-0.0242 left_roll=-0.0012 left_gripper=0.9968 right_x=0.3948 right_y=0.0503 right_z=0.1783 right_yaw=-0.0244 right_pitch=-0.0684 right_roll=-0.0149 right_gripper=0.9988\nstate[joint_eff]: [-0.0615, -1.7983, 6.9812, 1.7167, -0.0562, 0.0024, -0.0073, -0.1846, -6.3658, 7.2821, 1.9512, -0.0952, -0.1001, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74c2c2c4294c35930591dcc7599fae04a23b40908f8e9f5410079f125e7a4e8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a058837cc416e31b3e9740f4738d71022a020aa9d3efa5539f1fe20f72adca0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 367):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:69d21f4b8aa7770618f6a7d23cadefffa2d8e5d0bea1795194d726d98651f938",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 52 attempt 0 · /messages · status 200 · 18.25 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 148 changed as sent

message 151 changed as sent

message 154 changed as sent

message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.8948, 0.9016, -0.5896, -0.0479, -0.0345, 0.9968, 0.4587, 1.5261, 1.0405, -0.2726, 0.3832, 0.2466, 0.0112]\nstate[eef_state]: left_x=0.3056 left_y=0.001 left_z=0.2441 left_yaw=0.0157 left_pitch=-0.0227 left_roll=-0.001 left_gripper=0.9968 right_x=0.4068 right_y=0.1312 right_z=0.1537 right_yaw=-0.0056 right_pitch=-0.1327 right_roll=-0.0582 right_gripper=0.0112\nstate[joint_eff]: [-0.1983, -1.7162, 6.8034, 1.7656, -0.0659, -0.0513, -0.0073, 0.5538, -7.0906, 8.5675, 1.6093, 0.3053, 0.1001, 0.9646]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.8948, 0.9016, -0.5903, -0.0479, -0.0345, 0.9968, 0.4561, 1.4761, 1.3991, -0.5762, 0.3801, 0.2245, 0.9951]\nstate[eef_state]: left_x=0.3055 left_y=0.001 left_z=0.244 left_yaw=0.0157 left_pitch=-0.0234 left_roll=-0.001 left_gripper=0.9968 right_x=0.4133 right_y=0.1337 right_z=0.2736 right_yaw=0.0101 right_pitch=-0.0399 right_roll=-0.0279 right_gripper=0.9951\nstate[joint_eff]: [-0.0479, -1.7299, 6.8171, 1.7656, -0.0855, -0.0073, -0.0122, -0.5538, -8.5128, 9.4154, 1.5751, 0.0366, 0.0513, -0.1978]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.8959, 0.9016, -0.59, -0.0479, -0.0349, 0.9968, 0.2028, 1.3151, 0.902, -0.2291, 0.1928, 0.1055, 0.9988]\nstate[eef_state]: left_x=0.3057 left_y=0.0011 left_z=0.2437 left_yaw=0.0162 left_pitch=-0.0242 left_roll=-0.0012 left_gripper=0.9968 right_x=0.3948 right_y=0.0503 right_z=0.1783 right_yaw=-0.0244 right_pitch=-0.0684 right_roll=-0.0149 right_gripper=0.9988\nstate[joint_eff]: [-0.0615, -1.7983, 6.9812, 1.7167, -0.0562, 0.0024, -0.0073, -0.1846, -6.3658, 7.2821, 1.9512, -0.0952, -0.1001, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74c2c2c4294c35930591dcc7599fae04a23b40908f8e9f5410079f125e7a4e8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a058837cc416e31b3e9740f4738d71022a020aa9d3efa5539f1fe20f72adca0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69d21f4b8aa7770618f6a7d23cadefffa2d8e5d0bea1795194d726d98651f938",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSgggKEAgRGAI4AUIIdGhpbmtpbmcSDFau2QbC22BQISLo5BoM0dMNNjG1A1AyE9KLIjBnnkux0DZP4+btIwdsyY+XbYoDnH0wd5X3SCvHytS9SfiXpivJhvDztVBwQjHg4+wqnwdwJiXQ45g2oki4V1FlPXpWzG/jANSDKc9ZVECSjM9YxM8PWfd+tsK+kASosmkSZHs6cVdMqrx/5Nr/uJWp+8WutBL4jt23DIAvboe3ieH9kE8Pl5Uw/aObQRxD6NhY7yGscBZAhqf9XqY13HYj4KZ9acobJp/uecPZDBqIkSbSNJXcpnYw6uwjpnS0vCwtu7RVu6ViNcgAiJrtXUF3FlYYVajY4izFiRBM+3J89e1VB6hEo0aHToPJH7WHYJeLabv8QeU4hQBYCinOC1/yNEWLc/zCkdiS8YqKqM9f8s+J7iLLzck9za5SobM4vRdoNOIYNil5j1vy1kHbtumwyYTXjFwJkT/I/j1CyKknTrBmo72RnFLkBP3EVnTSfighgRhB2BEe9Jv4gCfOsZr3gnBSLgnOTS2da4k8jt4tpKrEbPBn1frcLWmMeSBLL2V6cdewrjSlEy4RCtDn+ScLw+UnK4dYA9QuK7xMEA6/SvI/VbwAV+CWFzdiXKDp52rNhU44OQ0ClQC27FI5EU80LLPmYPrtIUYIC9S55KvJBEzx8zuOA1yq4C1Hi+0xCmOw4D/A7PsInX7bHHlswQ+znqUpKEaEdrrDEKrghb33n7eksN3aBFM12BqQTcVtrFncxNneeWZ6/iekmf4El50nW8QnkZnMZyR/qycoa4g867qOsH3rIlDcDzizLSd49GhDZD97EXDa7FKdeFQEJE6vXzXRYBoSbaK9ppbABhbhkNdPX+lDQcvxd2D9YBRCTg2VQtYfRm3v/ZVUQ6wfwOTG0r6gejhy6aW26HV0uYRnKXEFHvuA8R1RvQfT+N+HD4LTX23YvS7k5HoawPTydnUnQjCEwQSTRdAtv9pZo84ouZdC9iOZyTzKKohHqAlvpCoeQmD/Ekrclgt6nEfUZD7PuvRbPLisfUUiLQuxHi4IiqVK5TEfD7jZ76vYkTZ5WxeYjNonh+3bNVyWjcQ2csX6dfvBoiINLcS5IcOxTSWJ20e+0KPF4lI/V/6rEJWMYU+93ssr8TUw/3hvJNzTMM3jMTwiG/ZLdlD2AfOaM65Jg7W35tgQuVQo9C4MLpLXQ98tgB+IoVcx14/B1mXKsM5PzgUDaRPXj85TK2hKmoQoWDrlNWiiMOIsahCcmgSmHljGiWIQI6g1SIDHlZIyQniNG/KtSQaXOYlYGxLGmK1yHKIxbb558zau2Pmz9kAua8tt54e+06ptnraZKsHZTZuPvJ0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WKXC2PGsXyiKoKo9niopii",
      "input": {
        "note": "The bottle's shoulder now fills the space between the two jaw wedges in the right wrist view. Closing to grasp the neck.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01WKXC2PGsXyiKoKo9niopii",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.8959, 0.9016, -0.59, -0.0479, -0.0345, 0.9968, 0.1997, 1.3148, 0.8761, -0.2276, 0.1757, 0.0971, 0.0111]\nstate[eef_state]: left_x=0.3057 left_y=0.0011 left_z=0.2437 left_yaw=0.016 left_pitch=-0.0242 left_roll=-0.0009 left_gripper=0.9968 right_x=0.39 right_y=0.0511 right_z=0.167 right_yaw=-0.0089 right_pitch=-0.0942 right_roll=-0.0166 right_gripper=0.0111\nstate[joint_eff]: [-0.0752, -1.4291, 7.0222, 1.7509, -0.0757, -0.0611, -0.0073, 0.1573, -5.1761, 9.3333, 1.6679, 0.1783, 0.0855, 0.9255]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 377):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b314f3acdf2bd906402a772cf94aa944a85dd5c94ba9b0400a7a2e55e20df414",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 377):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac64f78e35bd405f205638513957bff66d5f62975107f8e8985f26b713e3d5e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 377):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b9b2657046d076cf78a5fed30b892dc26e02352c262f80ae35c0e6976c6c8738",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 53 attempt 0 · /messages · status 200 · 16.03 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 151 changed as sent

message 154 changed as sent

message 157 changed as sent

message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.8948, 0.9016, -0.5903, -0.0479, -0.0345, 0.9968, 0.4561, 1.4761, 1.3991, -0.5762, 0.3801, 0.2245, 0.9951]\nstate[eef_state]: left_x=0.3055 left_y=0.001 left_z=0.244 left_yaw=0.0157 left_pitch=-0.0234 left_roll=-0.001 left_gripper=0.9968 right_x=0.4133 right_y=0.1337 right_z=0.2736 right_yaw=0.0101 right_pitch=-0.0399 right_roll=-0.0279 right_gripper=0.9951\nstate[joint_eff]: [-0.0479, -1.7299, 6.8171, 1.7656, -0.0855, -0.0073, -0.0122, -0.5538, -8.5128, 9.4154, 1.5751, 0.0366, 0.0513, -0.1978]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.8959, 0.9016, -0.59, -0.0479, -0.0349, 0.9968, 0.2028, 1.3151, 0.902, -0.2291, 0.1928, 0.1055, 0.9988]\nstate[eef_state]: left_x=0.3057 left_y=0.0011 left_z=0.2437 left_yaw=0.0162 left_pitch=-0.0242 left_roll=-0.0012 left_gripper=0.9968 right_x=0.3948 right_y=0.0503 right_z=0.1783 right_yaw=-0.0244 right_pitch=-0.0684 right_roll=-0.0149 right_gripper=0.9988\nstate[joint_eff]: [-0.0615, -1.7983, 6.9812, 1.7167, -0.0562, 0.0024, -0.0073, -0.1846, -6.3658, 7.2821, 1.9512, -0.0952, -0.1001, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.8959, 0.9016, -0.59, -0.0479, -0.0345, 0.9968, 0.1997, 1.3148, 0.8761, -0.2276, 0.1757, 0.0971, 0.0111]\nstate[eef_state]: left_x=0.3057 left_y=0.0011 left_z=0.2437 left_yaw=0.016 left_pitch=-0.0242 left_roll=-0.0009 left_gripper=0.9968 right_x=0.39 right_y=0.0511 right_z=0.167 right_yaw=-0.0089 right_pitch=-0.0942 right_roll=-0.0166 right_gripper=0.0111\nstate[joint_eff]: [-0.0752, -1.4291, 7.0222, 1.7509, -0.0757, -0.0611, -0.0073, 0.1573, -5.1761, 9.3333, 1.6679, 0.1783, 0.0855, 0.9255]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 377):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b314f3acdf2bd906402a772cf94aa944a85dd5c94ba9b0400a7a2e55e20df414",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 377):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac64f78e35bd405f205638513957bff66d5f62975107f8e8985f26b713e3d5e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 377):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9b2657046d076cf78a5fed30b892dc26e02352c262f80ae35c0e6976c6c8738",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011mMb9o59BNwfjwB6geTqxL",
      "input": {
        "note": "Empty close again; the top view now shows the bottle slightly right of and behind the gripper, near the right fence. Lifting and opening, and moving 4 cm right and 2 cm back toward the base to get directly over its cap.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.37,
          "right_y": 0.01,
          "right_yaw": 0.0,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_011mMb9o59BNwfjwB6geTqxL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.8959, 0.9016, -0.59, -0.0479, -0.0349, 0.9968, 0.0402, 1.2037, 1.1946, -0.5804, 0.046, 0.0025, 0.9951]\nstate[eef_state]: left_x=0.3057 left_y=0.001 left_z=0.2437 left_yaw=0.0159 left_pitch=-0.0242 left_roll=-0.0012 left_gripper=0.9968 right_x=0.3757 right_y=0.0106 right_z=0.2793 right_yaw=-0.0076 right_pitch=-0.0287 right_roll=-0.0082 right_gripper=0.9951\nstate[joint_eff]: [-0.212, -1.6752, 6.8308, 1.7656, -0.0513, -0.0317, -0.0122, -0.3897, -5.7231, 9.5795, 1.6581, -0.0952, 0.0708, -0.1685]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 387):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a0b135970c9873a1496cf1dd0b85328da7cd5a2af5d2de3f9b4f6381949e18b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 387):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cb71027a7b59ce26f5d68d605374b76c6ff32b4e27c18889fb5d3569593e063",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 387):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4de16de89d275da17b9fa33919addc12491159986f2aaaa4c813b4af6651fa91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 54 attempt 0 · /messages · status 200 · 19.18 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 154 changed as sent

message 157 changed as sent

message 160 changed as sent

message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.8959, 0.9016, -0.59, -0.0479, -0.0349, 0.9968, 0.2028, 1.3151, 0.902, -0.2291, 0.1928, 0.1055, 0.9988]\nstate[eef_state]: left_x=0.3057 left_y=0.0011 left_z=0.2437 left_yaw=0.0162 left_pitch=-0.0242 left_roll=-0.0012 left_gripper=0.9968 right_x=0.3948 right_y=0.0503 right_z=0.1783 right_yaw=-0.0244 right_pitch=-0.0684 right_roll=-0.0149 right_gripper=0.9988\nstate[joint_eff]: [-0.0615, -1.7983, 6.9812, 1.7167, -0.0562, 0.0024, -0.0073, -0.1846, -6.3658, 7.2821, 1.9512, -0.0952, -0.1001, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.8959, 0.9016, -0.59, -0.0479, -0.0345, 0.9968, 0.1997, 1.3148, 0.8761, -0.2276, 0.1757, 0.0971, 0.0111]\nstate[eef_state]: left_x=0.3057 left_y=0.0011 left_z=0.2437 left_yaw=0.016 left_pitch=-0.0242 left_roll=-0.0009 left_gripper=0.9968 right_x=0.39 right_y=0.0511 right_z=0.167 right_yaw=-0.0089 right_pitch=-0.0942 right_roll=-0.0166 right_gripper=0.0111\nstate[joint_eff]: [-0.0752, -1.4291, 7.0222, 1.7509, -0.0757, -0.0611, -0.0073, 0.1573, -5.1761, 9.3333, 1.6679, 0.1783, 0.0855, 0.9255]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 160 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.8959, 0.9016, -0.59, -0.0479, -0.0349, 0.9968, 0.0402, 1.2037, 1.1946, -0.5804, 0.046, 0.0025, 0.9951]\nstate[eef_state]: left_x=0.3057 left_y=0.001 left_z=0.2437 left_yaw=0.0159 left_pitch=-0.0242 left_roll=-0.0012 left_gripper=0.9968 right_x=0.3757 right_y=0.0106 right_z=0.2793 right_yaw=-0.0076 right_pitch=-0.0287 right_roll=-0.0082 right_gripper=0.9951\nstate[joint_eff]: [-0.212, -1.6752, 6.8308, 1.7656, -0.0513, -0.0317, -0.0122, -0.3897, -5.7231, 9.5795, 1.6581, -0.0952, 0.0708, -0.1685]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 387):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a0b135970c9873a1496cf1dd0b85328da7cd5a2af5d2de3f9b4f6381949e18b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 387):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cb71027a7b59ce26f5d68d605374b76c6ff32b4e27c18889fb5d3569593e063",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 387):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4de16de89d275da17b9fa33919addc12491159986f2aaaa4c813b4af6651fa91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CbJNJYNdLMQ2iUFrhWxitV",
      "input": {
        "note": "The bottle now shows at the bottom of the right wrist view about 5 cm right of the jaw column, close to the right fence. Shifting right 5 cm and descending with open jaws to bracket the neck.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.37,
          "right_y": -0.04,
          "right_yaw": 0.0,
          "right_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01CbJNJYNdLMQ2iUFrhWxitV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.8959, 0.9016, -0.5903, -0.0479, -0.0345, 0.9968, -0.1787, 1.1675, 0.8101, -0.2928, -0.123, -0.0986, 0.9988]\nstate[eef_state]: left_x=0.3057 left_y=0.0011 left_z=0.2436 left_yaw=0.016 left_pitch=-0.0246 left_roll=-0.0009 left_gripper=0.9968 right_x=0.3611 right_y=-0.0396 right_z=0.1769 right_yaw=-0.0292 right_pitch=-0.0843 right_roll=0.0104 right_gripper=0.9988\nstate[joint_eff]: [-0.0479, -1.4838, 7.0085, 1.8095, -0.0562, -0.0464, -0.0122, -0.2393, -4.6701, 7.3915, 2.0293, -0.0415, -0.0513, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 393):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c257f420bfd58c7d2385befad80435bd37b0648dfde9bccc47b91c9647430c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 393):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b002aab2e66ee5056269257ff77e803964186ced359cff6e2aa7bbb57788284",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 393):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:71ed43eae585292313f8f42182cda13768554637056546d6e063ffec58fb5198",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 55 attempt 0 · /messages · status 200 · 12.99 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 157 changed as sent

message 160 changed as sent

message 163 changed as sent

message 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.8959, 0.9016, -0.59, -0.0479, -0.0345, 0.9968, 0.1997, 1.3148, 0.8761, -0.2276, 0.1757, 0.0971, 0.0111]\nstate[eef_state]: left_x=0.3057 left_y=0.0011 left_z=0.2437 left_yaw=0.016 left_pitch=-0.0242 left_roll=-0.0009 left_gripper=0.9968 right_x=0.39 right_y=0.0511 right_z=0.167 right_yaw=-0.0089 right_pitch=-0.0942 right_roll=-0.0166 right_gripper=0.0111\nstate[joint_eff]: [-0.0752, -1.4291, 7.0222, 1.7509, -0.0757, -0.0611, -0.0073, 0.1573, -5.1761, 9.3333, 1.6679, 0.1783, 0.0855, 0.9255]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 160 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.8959, 0.9016, -0.59, -0.0479, -0.0349, 0.9968, 0.0402, 1.2037, 1.1946, -0.5804, 0.046, 0.0025, 0.9951]\nstate[eef_state]: left_x=0.3057 left_y=0.001 left_z=0.2437 left_yaw=0.0159 left_pitch=-0.0242 left_roll=-0.0012 left_gripper=0.9968 right_x=0.3757 right_y=0.0106 right_z=0.2793 right_yaw=-0.0076 right_pitch=-0.0287 right_roll=-0.0082 right_gripper=0.9951\nstate[joint_eff]: [-0.212, -1.6752, 6.8308, 1.7656, -0.0513, -0.0317, -0.0122, -0.3897, -5.7231, 9.5795, 1.6581, -0.0952, 0.0708, -0.1685]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 163 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.8959, 0.9016, -0.5903, -0.0479, -0.0345, 0.9968, -0.1787, 1.1675, 0.8101, -0.2928, -0.123, -0.0986, 0.9988]\nstate[eef_state]: left_x=0.3057 left_y=0.0011 left_z=0.2436 left_yaw=0.016 left_pitch=-0.0246 left_roll=-0.0009 left_gripper=0.9968 right_x=0.3611 right_y=-0.0396 right_z=0.1769 right_yaw=-0.0292 right_pitch=-0.0843 right_roll=0.0104 right_gripper=0.9988\nstate[joint_eff]: [-0.0479, -1.4838, 7.0085, 1.8095, -0.0562, -0.0464, -0.0122, -0.2393, -4.6701, 7.3915, 2.0293, -0.0415, -0.0513, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 393):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c257f420bfd58c7d2385befad80435bd37b0648dfde9bccc47b91c9647430c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 393):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b002aab2e66ee5056269257ff77e803964186ced359cff6e2aa7bbb57788284",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 393):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71ed43eae585292313f8f42182cda13768554637056546d6e063ffec58fb5198",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017rsQBwjKkPJfGnKE8y4qSf",
      "input": {
        "note": "The bottle's neck now fills the upper-centre of the right wrist view, meaning it is a few cm ahead of the fingertips and slightly right. Advancing ~6 cm forward and 2 cm right at neck height so the open jaws bracket the neck.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.42,
          "right_y": -0.06,
          "right_yaw": 0.0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_017rsQBwjKkPJfGnKE8y4qSf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.8978, 0.9016, -0.59, -0.0479, -0.0341, 0.9968, -0.2234, 1.3628, 0.8867, -0.1028, -0.1761, -0.1432, 0.9988]\nstate[eef_state]: left_x=0.306 left_y=0.001 left_z=0.2432 left_yaw=0.0155 left_pitch=-0.0261 left_roll=-0.0005 left_gripper=0.9968 right_x=0.4125 right_y=-0.0583 right_z=0.178 right_yaw=-0.006 right_pitch=-0.0087 right_roll=-0.0092 right_gripper=0.9988\nstate[joint_eff]: [-0.0889, -1.7162, 6.8034, 1.7851, -0.0757, -0.0122, -0.0122, -0.6632, -4.8752, 8.4444, 1.3797, -0.188, -0.0317, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 398):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f09d7babdd853b04ca723e56248e69a470446e6c64556f1b91142d3f7c8cf7cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 398):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9741ea3f58fc8bae01fa7372cab3c52ad7e4732fadae5f5609e598f1f52e9c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 398):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dcb92ddb5ffe1105a35a017764caae79a69912d305af7af98446509584948873",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 56 attempt 0 · /messages · status 200 · 20.56 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 160 changed as sent

message 163 changed as sent

message 166 changed as sent

message 160 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.8959, 0.9016, -0.59, -0.0479, -0.0349, 0.9968, 0.0402, 1.2037, 1.1946, -0.5804, 0.046, 0.0025, 0.9951]\nstate[eef_state]: left_x=0.3057 left_y=0.001 left_z=0.2437 left_yaw=0.0159 left_pitch=-0.0242 left_roll=-0.0012 left_gripper=0.9968 right_x=0.3757 right_y=0.0106 right_z=0.2793 right_yaw=-0.0076 right_pitch=-0.0287 right_roll=-0.0082 right_gripper=0.9951\nstate[joint_eff]: [-0.212, -1.6752, 6.8308, 1.7656, -0.0513, -0.0317, -0.0122, -0.3897, -5.7231, 9.5795, 1.6581, -0.0952, 0.0708, -0.1685]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 163 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.8959, 0.9016, -0.5903, -0.0479, -0.0345, 0.9968, -0.1787, 1.1675, 0.8101, -0.2928, -0.123, -0.0986, 0.9988]\nstate[eef_state]: left_x=0.3057 left_y=0.0011 left_z=0.2436 left_yaw=0.016 left_pitch=-0.0246 left_roll=-0.0009 left_gripper=0.9968 right_x=0.3611 right_y=-0.0396 right_z=0.1769 right_yaw=-0.0292 right_pitch=-0.0843 right_roll=0.0104 right_gripper=0.9988\nstate[joint_eff]: [-0.0479, -1.4838, 7.0085, 1.8095, -0.0562, -0.0464, -0.0122, -0.2393, -4.6701, 7.3915, 2.0293, -0.0415, -0.0513, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 166 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.8978, 0.9016, -0.59, -0.0479, -0.0341, 0.9968, -0.2234, 1.3628, 0.8867, -0.1028, -0.1761, -0.1432, 0.9988]\nstate[eef_state]: left_x=0.306 left_y=0.001 left_z=0.2432 left_yaw=0.0155 left_pitch=-0.0261 left_roll=-0.0005 left_gripper=0.9968 right_x=0.4125 right_y=-0.0583 right_z=0.178 right_yaw=-0.006 right_pitch=-0.0087 right_roll=-0.0092 right_gripper=0.9988\nstate[joint_eff]: [-0.0889, -1.7162, 6.8034, 1.7851, -0.0757, -0.0122, -0.0122, -0.6632, -4.8752, 8.4444, 1.3797, -0.188, -0.0317, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 398):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f09d7babdd853b04ca723e56248e69a470446e6c64556f1b91142d3f7c8cf7cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 398):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9741ea3f58fc8bae01fa7372cab3c52ad7e4732fadae5f5609e598f1f52e9c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 398):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dcb92ddb5ffe1105a35a017764caae79a69912d305af7af98446509584948873",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnA4KEAgRGAI4AUIIdGhpbmtpbmcSDGbp5K+61xFJv96dMxoMF4AB5PFxKKVgdgPEIjD0OI0U1ItG/J7GpA2jTQQfC8uvdC0tWgETJgwrr9VO5sQ/hsT9NRlRC43vVnd4rlcquQ1OmH67mUo5gSCuxGFMPw9E6Hxi8mErFxVR7dn7SYEKiMmSatEFWHRh5hGcfN3zeGiH9x2AwjiBnODgO6IA2PAKsP5OSCPNYhBwvScRjEXVAgmP7Ip6PR9TwRwYwqhpJm+mM/fo4JVgrY1DEkoRjJEY3gIYKlOCuGQd+zFV7Wh9ebipuQ9PdWEbtoW2+0mmhoxZhnWNgTEm+v7S5fozAtrhd+bIEVkbLc75Plyh78i6dDTNSuwejiQ6gNC4fu5B9gh+R6EdvToa6XAdWLiM+/FN+TgAjOGAbr5yEaGQy5WmOKfdbOKtcYyRBTZ478S8jupJkT5L0Ov0lt5Xwx0Aqng0MmH695TJVTPaIKKpkomifCzYKqmJp/lItEFUZ6TJO95oMyFUW5zyOvCk+xYLDcNaUOMZdJJ9FeuyD7tfvCbXQjYxY89EfkNz0IGhATCqfeDclWcx+9RJIrL572Ro3LoH7ZNY+ncznm7k99VQ0LuTnVdIlGDig7WEnfgVFggIPPoE01lCJi35ZRLlRqDIxY7JPBZ6G9AIQBBuEr7wKORo5QSzxfPC1SoRAWcNiuHWbpTpenyRAEhRacy1ZS/qoVArvMbr4+CLyAyI6mrrPj4PhDcgxOLNLjLkRtztric2WDkGp7iVaSXHkXfMf/kSGZYK9mlbyTOO21c3BmjwW7ucttlVa7GWZ/sKepDrieIXPW+YnLVexbABSS2FshZRXps0NvQ87I3b0aMJq+X+EWZ9K7bAiburPENjXhAAUUkeDdi4rO6PJ5WzGIpiy/G+mBTOBRw6LBCARVOq7xvVterp9m01LIFu89eRLI9uvZy16anVAIBY/86ZXO249/TXc4UBnS2ferrM1cgohgd2mZnm8rzpfyGRyKDRSYzSWIPZ7xNnW01PAjfcS00iFYf/UY3oONlFVrQ38m8YZI7GA4Eag3DAl8ofwzmyWhepQvfP3SBDUyTMwLMqjR3xcSV2RtI00cDzJpu+VE2FkzsX3E57qTTVW7rEzSxrl+GUWD6cESSMx7xXtO1Cp0IxydESxtU/s3wQi8gdOs9FY2HeZ8aTuegL1yFBA0SWdrlTzOTCC6R6GDQOH9pH84mAntCBSyiotIE8uzfLz1gVeP3ZcL+bOt3EoIA6b78fI8C51aF72upTQTVsDpNJiXpLBWFohJg+igfFuYNAhEc9gQ4svSPV2LjRxvsv37CtmA6YYz5E4MquolD6OHJ4e4EdeQmsKRk8kNoTnwAOqO3kWKLEgqBc+bdm3+hK2i6GHip7oSzg2o++isF+AbOndsAMK9t53FBgFKw0np57CXMSEgc0NEZX3kc2OTpadfJHBAfSIdE9O4CsnJs2p0mMTss9xKwHerD77NG/gZlv2OxHIcn+c907PobH7E/hY/yfmEdibhdz3zn7xMHLr2OpYd0s9RC0NBz+hKUPopEqAoFSy3Kkq2AtvQdTsjH/+07NW1NbDg2sJ8AtdXhHXxaDdlqA3nNg4CMFhWAY4Pn6OPbJ1KHjK1uvLcC8vKcSLghL9619tQNPRUoubNleCr56hTwroh2CRkCnEJsj2qUkumC8XUtaoknKpFghz1EV53kbuV2thKkCwELnwmkzuYmzW541qdbkure+5zKFsYpzvYKN028GuYIU6ztAkXZeCOek1FVJen9EIf9emxY82VWlnUGcrQXcAJHmuHD1CY2xqpT+tFPHdy/BRwkgH8jLe8XKy9d2ub34v44E3ICdqYZ907VmRpYdYmFSU3uzX0uuwpOeeas444xzoH0ScpWz5WJ+D4D9nXOWh6meMz+hZLeS2QnU65GMRBZrrNkEZI/S+bHmdZtc1VARUKWt2250gX+8R1YfWQULPYBtiiIfPo3XdPsziVHhNVQK7aTCk3grbpBkrEVEtVQKtmE+Vy8kR2iqjw3AHhnyiW9pAEj4J2FnDQzk46VYqeq2ZPx2aRZNEV2JTfOiVIdME9vWJsUC7jpWZKwNtcGBOL0E7DoI99vatF/MjNUbXVy55zZCazOO9SSRBiPdKLEQOpkVtJ1jf31vfE4vH12Wa4uQ7DDHHO7RO2ahGCOtwUsXaVrRsIMbcKqp34jX0ALMGOSpAb/WNhjmBoeWYlFH6sntBut817oiHdjgd4W+MNtxRBWmXUgk3cGnRmPEkO5eKT90KPQu6HdvlPZeuHZxxk8CSXGS0FyYGGdlGj9pi+jthqKj490JBVWe1ELd/Gmj69CSmpadSU7EzpfTZJWfW3r+Rd2eSErTTkqfeVJNTlHEvtsQEq77FNx1b/ReFxXweobirttIo7BtGxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WP4mc77wGLdihM6MrR9cDh",
      "input": {
        "note": "The bottle's shoulder now fills the right wrist view and the top view shows the gripper directly over the bottle. Closing to test whether the neck is between the jaws.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01WP4mc77wGLdihM6MrR9cDh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.8978, 0.9016, -0.59, -0.0479, -0.0345, 0.9968, -0.2249, 1.3903, 0.8967, -0.0959, -0.1925, -0.1497, 0.0116]\nstate[eef_state]: left_x=0.306 left_y=0.001 left_z=0.2432 left_yaw=0.0157 left_pitch=-0.0261 left_roll=-0.0008 left_gripper=0.9968 right_x=0.4171 right_y=-0.0571 right_z=0.1733 right_yaw=0.0098 right_pitch=-0.0171 right_roll=-0.0035 right_gripper=0.0116\nstate[joint_eff]: [-0.0342, -1.7436, 6.8444, 1.7216, -0.0708, -0.0317, -0.0073, -0.4991, -5.7641, 8.0889, 1.7411, -0.1197, 0.0659, 0.9255]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 408):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0221b13a13916f6e8653ad08a1bf50c459b24bd7ce3507c744d18b65fef894b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 408):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63b46546907c01dc8e00d2cb25013322f82d1883a04a5af5252dbe97c39643a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 408):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6592a7ad23a2064cb4b238e50886f008a845d97033757380a6a04aafe1178a50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 57 attempt 0 · /messages · status 200 · 21.08 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 163 changed as sent

message 166 changed as sent

message 169 changed as sent

message 163 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.8959, 0.9016, -0.5903, -0.0479, -0.0345, 0.9968, -0.1787, 1.1675, 0.8101, -0.2928, -0.123, -0.0986, 0.9988]\nstate[eef_state]: left_x=0.3057 left_y=0.0011 left_z=0.2436 left_yaw=0.016 left_pitch=-0.0246 left_roll=-0.0009 left_gripper=0.9968 right_x=0.3611 right_y=-0.0396 right_z=0.1769 right_yaw=-0.0292 right_pitch=-0.0843 right_roll=0.0104 right_gripper=0.9988\nstate[joint_eff]: [-0.0479, -1.4838, 7.0085, 1.8095, -0.0562, -0.0464, -0.0122, -0.2393, -4.6701, 7.3915, 2.0293, -0.0415, -0.0513, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 166 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.8978, 0.9016, -0.59, -0.0479, -0.0341, 0.9968, -0.2234, 1.3628, 0.8867, -0.1028, -0.1761, -0.1432, 0.9988]\nstate[eef_state]: left_x=0.306 left_y=0.001 left_z=0.2432 left_yaw=0.0155 left_pitch=-0.0261 left_roll=-0.0005 left_gripper=0.9968 right_x=0.4125 right_y=-0.0583 right_z=0.178 right_yaw=-0.006 right_pitch=-0.0087 right_roll=-0.0092 right_gripper=0.9988\nstate[joint_eff]: [-0.0889, -1.7162, 6.8034, 1.7851, -0.0757, -0.0122, -0.0122, -0.6632, -4.8752, 8.4444, 1.3797, -0.188, -0.0317, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 169 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.8978, 0.9016, -0.59, -0.0479, -0.0345, 0.9968, -0.2249, 1.3903, 0.8967, -0.0959, -0.1925, -0.1497, 0.0116]\nstate[eef_state]: left_x=0.306 left_y=0.001 left_z=0.2432 left_yaw=0.0157 left_pitch=-0.0261 left_roll=-0.0008 left_gripper=0.9968 right_x=0.4171 right_y=-0.0571 right_z=0.1733 right_yaw=0.0098 right_pitch=-0.0171 right_roll=-0.0035 right_gripper=0.0116\nstate[joint_eff]: [-0.0342, -1.7436, 6.8444, 1.7216, -0.0708, -0.0317, -0.0073, -0.4991, -5.7641, 8.0889, 1.7411, -0.1197, 0.0659, 0.9255]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 408):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0221b13a13916f6e8653ad08a1bf50c459b24bd7ce3507c744d18b65fef894b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 408):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63b46546907c01dc8e00d2cb25013322f82d1883a04a5af5252dbe97c39643a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 408):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6592a7ad23a2064cb4b238e50886f008a845d97033757380a6a04aafe1178a50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DjSZAL1R2VJtkHaYKbiha5",
      "input": {
        "note": "Empty close; the wrist view now clearly shows the jug standing ahead of the jaws and slightly left, and the top view confirms it is ~8 cm forward of the gripper. Lifting and opening to come down on it from above.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.42,
          "right_y": -0.045,
          "right_yaw": 0.0,
          "right_z": 0.32
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01DjSZAL1R2VJtkHaYKbiha5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.8978, 0.9016, -0.5907, -0.0479, -0.0345, 0.9968, -0.1825, 1.3918, 1.4242, -0.5877, -0.1616, -0.1272, 0.9947]\nstate[eef_state]: left_x=0.3059 left_y=0.0011 left_z=0.243 left_yaw=0.016 left_pitch=-0.0268 left_roll=-0.0008 left_gripper=0.9968 right_x=0.4226 right_y=-0.0455 right_z=0.311 right_yaw=0.0141 right_pitch=0.0129 right_roll=-0.0081 right_gripper=0.9947\nstate[joint_eff]: [-0.1846, -1.7162, 6.8581, 1.7265, -0.0904, -0.0073, -0.0073, 0.1573, -4.8889, 9.1009, 1.58, 0.0659, 0.105, -0.0366]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 418):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13fb22918afe0433ed88ab085584ab53d920c5f3662bf199d4e3c8f8ebb6f415",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 418):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3609be49702bc30ebab5ca4a24f3d580266122fb183bd49869628ebe1c0d2ad8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 418):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fa282409de9dc94d9b1c9f21966efb48543e4c0bf82bdab7f40ec9b5fb92e384",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 58 attempt 0 · /messages · status 200 · 9.133 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 166 changed as sent

message 169 changed as sent

message 172 changed as sent

message 166 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.8978, 0.9016, -0.59, -0.0479, -0.0341, 0.9968, -0.2234, 1.3628, 0.8867, -0.1028, -0.1761, -0.1432, 0.9988]\nstate[eef_state]: left_x=0.306 left_y=0.001 left_z=0.2432 left_yaw=0.0155 left_pitch=-0.0261 left_roll=-0.0005 left_gripper=0.9968 right_x=0.4125 right_y=-0.0583 right_z=0.178 right_yaw=-0.006 right_pitch=-0.0087 right_roll=-0.0092 right_gripper=0.9988\nstate[joint_eff]: [-0.0889, -1.7162, 6.8034, 1.7851, -0.0757, -0.0122, -0.0122, -0.6632, -4.8752, 8.4444, 1.3797, -0.188, -0.0317, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 169 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.8978, 0.9016, -0.59, -0.0479, -0.0345, 0.9968, -0.2249, 1.3903, 0.8967, -0.0959, -0.1925, -0.1497, 0.0116]\nstate[eef_state]: left_x=0.306 left_y=0.001 left_z=0.2432 left_yaw=0.0157 left_pitch=-0.0261 left_roll=-0.0008 left_gripper=0.9968 right_x=0.4171 right_y=-0.0571 right_z=0.1733 right_yaw=0.0098 right_pitch=-0.0171 right_roll=-0.0035 right_gripper=0.0116\nstate[joint_eff]: [-0.0342, -1.7436, 6.8444, 1.7216, -0.0708, -0.0317, -0.0073, -0.4991, -5.7641, 8.0889, 1.7411, -0.1197, 0.0659, 0.9255]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 172 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.8978, 0.9016, -0.5907, -0.0479, -0.0345, 0.9968, -0.1825, 1.3918, 1.4242, -0.5877, -0.1616, -0.1272, 0.9947]\nstate[eef_state]: left_x=0.3059 left_y=0.0011 left_z=0.243 left_yaw=0.016 left_pitch=-0.0268 left_roll=-0.0008 left_gripper=0.9968 right_x=0.4226 right_y=-0.0455 right_z=0.311 right_yaw=0.0141 right_pitch=0.0129 right_roll=-0.0081 right_gripper=0.9947\nstate[joint_eff]: [-0.1846, -1.7162, 6.8581, 1.7265, -0.0904, -0.0073, -0.0073, 0.1573, -4.8889, 9.1009, 1.58, 0.0659, 0.105, -0.0366]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 418):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13fb22918afe0433ed88ab085584ab53d920c5f3662bf199d4e3c8f8ebb6f415",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 418):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3609be49702bc30ebab5ca4a24f3d580266122fb183bd49869628ebe1c0d2ad8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 418):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa282409de9dc94d9b1c9f21966efb48543e4c0bf82bdab7f40ec9b5fb92e384",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019TSBvkwvuavPHJamxcoyA2",
      "input": {
        "note": "Right wrist view now shows the whole jug standing ~10 cm ahead of the fingertips with its mouth 2 cm left of the jaw column. Advancing 6 cm with a forward pitch to gain reach, staying above the cap.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.3,
          "right_roll": 0.0,
          "right_x": 0.48,
          "right_y": -0.025,
          "right_yaw": 0.0,
          "right_z": 0.29
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_019TSBvkwvuavPHJamxcoyA2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.8978, 0.9016, -0.5896, -0.0479, -0.0345, 0.9968, -0.0975, 1.4559, 1.1439, -0.0441, -0.1047, -0.0616, 0.9988]\nstate[eef_state]: left_x=0.306 left_y=0.0011 left_z=0.2432 left_yaw=0.016 left_pitch=-0.0257 left_roll=-0.0008 left_gripper=0.9968 right_x=0.4718 right_y=-0.024 right_z=0.2707 right_yaw=0.0188 right_pitch=0.2061 right_roll=-0.0047 right_gripper=0.9988\nstate[joint_eff]: [0.0889, -1.6752, 6.8034, 1.707, -0.0806, -0.0171, -0.0073, 0.335, -6.5299, 7.5556, 2.1612, 0.0366, 0.1832, -0.1441]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 428):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:285c048c8e77feb41354da6c08ab77d62555f0174bd01f2b4df4f30aed8ac182",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 428):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72de03f144b44e47b84c91fdd71dfcf8ed8a4d7c773576e16cd20f93fb15ab8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 428):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:370a4e8f837c3e31523993ad3b05a14d113645e9165f6105e6ef5285f899eb49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 59 attempt 0 · /messages · status 200 · 6.736 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 169 changed as sent

message 172 changed as sent

message 175 changed as sent

message 169 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.8978, 0.9016, -0.59, -0.0479, -0.0345, 0.9968, -0.2249, 1.3903, 0.8967, -0.0959, -0.1925, -0.1497, 0.0116]\nstate[eef_state]: left_x=0.306 left_y=0.001 left_z=0.2432 left_yaw=0.0157 left_pitch=-0.0261 left_roll=-0.0008 left_gripper=0.9968 right_x=0.4171 right_y=-0.0571 right_z=0.1733 right_yaw=0.0098 right_pitch=-0.0171 right_roll=-0.0035 right_gripper=0.0116\nstate[joint_eff]: [-0.0342, -1.7436, 6.8444, 1.7216, -0.0708, -0.0317, -0.0073, -0.4991, -5.7641, 8.0889, 1.7411, -0.1197, 0.0659, 0.9255]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 172 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.8978, 0.9016, -0.5907, -0.0479, -0.0345, 0.9968, -0.1825, 1.3918, 1.4242, -0.5877, -0.1616, -0.1272, 0.9947]\nstate[eef_state]: left_x=0.3059 left_y=0.0011 left_z=0.243 left_yaw=0.016 left_pitch=-0.0268 left_roll=-0.0008 left_gripper=0.9968 right_x=0.4226 right_y=-0.0455 right_z=0.311 right_yaw=0.0141 right_pitch=0.0129 right_roll=-0.0081 right_gripper=0.9947\nstate[joint_eff]: [-0.1846, -1.7162, 6.8581, 1.7265, -0.0904, -0.0073, -0.0073, 0.1573, -4.8889, 9.1009, 1.58, 0.0659, 0.105, -0.0366]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 175 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.8978, 0.9016, -0.5896, -0.0479, -0.0345, 0.9968, -0.0975, 1.4559, 1.1439, -0.0441, -0.1047, -0.0616, 0.9988]\nstate[eef_state]: left_x=0.306 left_y=0.0011 left_z=0.2432 left_yaw=0.016 left_pitch=-0.0257 left_roll=-0.0008 left_gripper=0.9968 right_x=0.4718 right_y=-0.024 right_z=0.2707 right_yaw=0.0188 right_pitch=0.2061 right_roll=-0.0047 right_gripper=0.9988\nstate[joint_eff]: [0.0889, -1.6752, 6.8034, 1.707, -0.0806, -0.0171, -0.0073, 0.335, -6.5299, 7.5556, 2.1612, 0.0366, 0.1832, -0.1441]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 428):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:285c048c8e77feb41354da6c08ab77d62555f0174bd01f2b4df4f30aed8ac182",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 428):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72de03f144b44e47b84c91fdd71dfcf8ed8a4d7c773576e16cd20f93fb15ab8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 428):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:370a4e8f837c3e31523993ad3b05a14d113645e9165f6105e6ef5285f899eb49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmAoKEAgRGAI4AUIIdGhpbmtpbmcSDID5+HfRhksk8DE+KBoMiirdk8TrE5OWck16IjB2edJXFfcRIzDw9hhUfXvxse7SJ2n0YRRswaxkSsQVOV3bpMjI6p0Ftg2F19ETNfYqtQnkv6eSnJ58yx3kZ1JIF5+/RcRgeYDtlDQYgIn6f8sZApYyyEiJEk9GDptGHOegcZVbZzP2JsKKbyfAiCE6ntOWDJf2gtOR2K/U679NNGEfUcEFzZ6ZthLPE0QQk9Do5EMH5ay3HAFdNoth6Xuuo2K4U+UZq72KioiAfRxiOZ7Aozk6TmHPafSV2hBp4k9u564XmleLRO/JT9JyL/xJqGrrIVRlV/x+DNxPd057kbKYluPfyfiTnXVBdKQLZ2GJNKGbFOVgTFh9ywLEqDlsVdhjx8lw5mF4prQ968sfulOaBnzcMA+mYi0LjFgdeLxMZG3diR1cPeVrFxam0cA5S5Fn5MBwpEhe7CcnekKGIZZsCbmc5Hz1o7qNrNy1OHWt2cNI7Hwuim4bGxfS0clx4cac2ZfxN44o0guefvxYvEzcEmsA0LZswYUKiTCB0qdkBGNsuWEfqYCrNKiXsB3zbPVHjK+kY5XxGM2YScHwWnK9TLHUqtFY8x31xT1x8UusGBV2wiauKrPN9fSJWblWByY/jbdU2cZVhGBZdZ5aiCt6ihMOJwacGwNP/tlnXiYsejfEFeIDvjz1M4u4moHCMJZqXq+9fqFgCy9v0zFfBeDbQnvwtYUcIRdimV5vYO8U2d9phw5hNc7APc8xBlWMeCQpVHEy83lHa9b35mVJOu0R3Qd826s068MunNoV41AHv+XMVQJlgN6BYfimR8oPQs1a5cZ81c7D0C0zbtvRyVfG+nAPzcFMvXLI8z3lZsrF4D4gUgcf/ixzbN0R3anWt4EgBdxeCqBupES7h29KpXFHlqYpMhBBurfoDb9u77pqk/+F1QLfR5MK3WO9CUq/Oq95Qfo+lub7wa7ZhffKF9/hSaSDSbbbmzX08K0My0J5lp05Z9cTwX8/tYlyHpXy4I6iBVnTRmxlUuOzw5V+hwS3mGCuh8M5Ot4bakTaeHlGnD6jI+hbNJA24DTTbxy8ehcrqbE7aHVXIQIDbspxD00vD4isdRdGxTqIQs2SOFijx8Qs9P5+CIMKtZ+Ga6QFcmV7mUxmAz0mZRxHfyAfQTklRNZN/E4iSSDlsbqFw2+32tlevpUJiVITXSLzl30agKaBqje/ZIGRk16D3ASLVi5Ieu48ShHHuh1zy5TQn6GeVrpzUjoqJrvZlT/h0Wj87WBStrpVy9pGkF46zZLrpjLOy1vOXv0UT6w1MIGIr0UMyb+cwTgX81Wnb6UhlBkJlRcIKo0UliQxi2KieUWDqhQFmqVPckJOnmLNbrwf7VQmcdIqpA13kD5UGuyj9MW+cEr3UM+RY2ipU0p1+i7yn0qk0YuSnthnc1RxqJIQu3kqkFFZX4dgScdgOZT7P3LDY9nK7I133FDFcNjjnnLlq7ZrdvZ2zQY+5FsWS0jH9QvOoCIc3vT6ZRlYVQB8AOEx5+oRAJokJIs5pDop3fHIgdza5mRc+/4obaF2+6520jb7U6TDOQ2JRBehPIH0nU/gJL8tN+venZLLCsOobM3fxj76ws4/w52v2RYmFHCb3ysaR1D9b71EZ3KMfN3Up77PKO7i9XvhEV79p9i0JbxgxSssnOCPoLPUceCYXSJ8SfVVLrs4YIKR2xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Gdg6gxq39fKanvFvKmkp3t",
      "input": {
        "note": "The jug mouth is now centred on the jaw column just ahead of the fingertips. Advancing 3 cm and descending 5 cm so the open jaws drop around the neck below the mouth.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.3,
          "right_roll": 0.0,
          "right_x": 0.5,
          "right_y": -0.02,
          "right_yaw": 0.0,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Gdg6gxq39fKanvFvKmkp3t",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.8978, 0.9016, -0.59, -0.0479, -0.0341, 0.9968, -0.0769, 1.5894, 0.9928, 0.2314, -0.0811, -0.0574, 0.9988]\nstate[eef_state]: left_x=0.306 left_y=0.001 left_z=0.2432 left_yaw=0.0155 left_pitch=-0.0261 left_roll=-0.0005 left_gripper=0.9968 right_x=0.4913 right_y=-0.0199 right_z=0.2002 right_yaw=0.0165 right_pitch=0.1961 right_roll=-0.0082 right_gripper=0.9988\nstate[joint_eff]: [-0.0752, -1.5248, 7.0222, 1.7021, -0.0708, -0.0171, -0.0122, 0.4444, -8.9231, 7.665, 2.4005, 0.0415, 0.1685, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 432):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:941c8f5bbfd83bee269cfdc08ff056ac3ae821e9e61ca558800c490d3aeff143",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 432):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:beb6cbba5fa72e20f31f34a46f46af8f3651278bcf112df50b238448004fcf3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 432):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:49a282d298943079fdb141659302a5e32a174eb80ff7e6fbaca6359678384cf9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 60 attempt 0 · /messages · status 200 · 7.56 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 172 changed as sent

message 175 changed as sent

message 178 changed as sent

message 172 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.8978, 0.9016, -0.5907, -0.0479, -0.0345, 0.9968, -0.1825, 1.3918, 1.4242, -0.5877, -0.1616, -0.1272, 0.9947]\nstate[eef_state]: left_x=0.3059 left_y=0.0011 left_z=0.243 left_yaw=0.016 left_pitch=-0.0268 left_roll=-0.0008 left_gripper=0.9968 right_x=0.4226 right_y=-0.0455 right_z=0.311 right_yaw=0.0141 right_pitch=0.0129 right_roll=-0.0081 right_gripper=0.9947\nstate[joint_eff]: [-0.1846, -1.7162, 6.8581, 1.7265, -0.0904, -0.0073, -0.0073, 0.1573, -4.8889, 9.1009, 1.58, 0.0659, 0.105, -0.0366]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 175 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.8978, 0.9016, -0.5896, -0.0479, -0.0345, 0.9968, -0.0975, 1.4559, 1.1439, -0.0441, -0.1047, -0.0616, 0.9988]\nstate[eef_state]: left_x=0.306 left_y=0.0011 left_z=0.2432 left_yaw=0.016 left_pitch=-0.0257 left_roll=-0.0008 left_gripper=0.9968 right_x=0.4718 right_y=-0.024 right_z=0.2707 right_yaw=0.0188 right_pitch=0.2061 right_roll=-0.0047 right_gripper=0.9988\nstate[joint_eff]: [0.0889, -1.6752, 6.8034, 1.707, -0.0806, -0.0171, -0.0073, 0.335, -6.5299, 7.5556, 2.1612, 0.0366, 0.1832, -0.1441]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 178 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.8978, 0.9016, -0.59, -0.0479, -0.0341, 0.9968, -0.0769, 1.5894, 0.9928, 0.2314, -0.0811, -0.0574, 0.9988]\nstate[eef_state]: left_x=0.306 left_y=0.001 left_z=0.2432 left_yaw=0.0155 left_pitch=-0.0261 left_roll=-0.0005 left_gripper=0.9968 right_x=0.4913 right_y=-0.0199 right_z=0.2002 right_yaw=0.0165 right_pitch=0.1961 right_roll=-0.0082 right_gripper=0.9988\nstate[joint_eff]: [-0.0752, -1.5248, 7.0222, 1.7021, -0.0708, -0.0171, -0.0122, 0.4444, -8.9231, 7.665, 2.4005, 0.0415, 0.1685, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 432):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:941c8f5bbfd83bee269cfdc08ff056ac3ae821e9e61ca558800c490d3aeff143",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 432):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:beb6cbba5fa72e20f31f34a46f46af8f3651278bcf112df50b238448004fcf3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 432):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49a282d298943079fdb141659302a5e32a174eb80ff7e6fbaca6359678384cf9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzwgKEAgRGAI4AUIIdGhpbmtpbmcSDGJS8Si5/P21wJyZ9xoMLkOZP9sTxQBLRtj0IjAk83yG23jwoS89kObwb9joFveZCtEEp9BYzrM7LyubijRJmoO1ZUrNnCQlQ0EHuVIq7AdSbq9+tDZsqrzrwjVAg4onKT7Ds9cvUsIh6oNv48wni+8jTGzCaZFuh1QLOBG1fEIUlJ6mzNVff6UHBJVYmaFBHLyjPJFIgXig8u5UTc3WogyMUA1f2nHIIhPz+6zrPb53bo3q4YVcFtVuk3lTgvlqGm9RNlEOOHIGPGzB/dGIjL+XoESfWcbxxTx8NntlODQe9PJyqgkNX79RZRlqABhjDl70llRVJubOzn7T12d0M6ZWWgpACBfAMfzjwRtgkm4fuqlaQvWKLlOZ88bshUski+Tn15cRlagSe5NEKxHOQ/4uSuOuK/dyde+DAHM+mLxXRwIhCwdrcOp1R6m21n6H/77WAoDYpwpf82NAR7gqjzhO8wIzEWk18mgvWdWNC+goKGVpNGEtHD8BcY2BeEqZFB9mfu4efQlCriTiZgGg0uFXV9I/9VHonTh+dJ1mn0C5PqnTPmr/u4NZszD5nhLjLaPDdpVAVMCxt04ElFpwn8bMWsk3jAaHS9l+7LxhVVzFsC2tSaxJ3agcMDhrt7t9Jug3rSG2MWAcstPHjZHjmgTVX38GBjZPfaGnKM85qU9YBjiZs2zF+oqN2XGEE9MBYwGb7cnfs+MFZeBwZh1q5zLS/iuTI1pV/rl3JRoDkZBLaDmD3Y/e7EgwlXSVTYrMgAg/H9dEqhdQj358NgloxVVxtcWargJfvFoOYnEricR9NF7/23/WP+XHDgaFT3BxwD1oZV0S4Y2BEx+0AntK7ZyEhqKbBafQ5MxOr7PrYJ06I402jbzwTQ6vJwX2idqRT/stnMd/Y4s98isANbP2olFrTTW24wHNyK6PPmqnRgq3Bj1Ner0wrq6L7OXYISS1Oaof0iTSU5dWoOPQFAHGGplNF6q/OPHSYCJ2S56LUhI6OldB5tDBB8D4ajeUasovOU45kXoWFRQV5K8Z0SoZLanYekfb9IiG2N8D8B1dkN4Q5kawD2ssTaccLDI++ZxL444RnmlJFCwCq0B6IXLZ1ZgZSSOh3LoiKB/OVTjjNiNe9E7q5X07iH0xMkrz23pD//iepU13koXNH8uy9T630cmulRKHda0oS1C4ecoRiMngBgQLd1s9hI3q/ZhBeLfvmGs8cLkkvsCfHqB7gMcRrEalz+QI+19NU7eq58ycgkk8nsVjAmV7AHuC/gPYyIx9A1ru8Xl/0tO1L4uxjMoKJ7mXPq1PI6G4iSiOh5S81T38TOgzfh/jWYnkKH5uoisoTUaOy/U9qnyGM3yJMtrg/U4AHa2P/WPQXEUkS16TwdYpeAPL7mqCdJp5NkxpLhGlUVJodIvIS6B1X51NE7tqH/C6MXf6Nr22utDncBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GtrtVoZii9HFabE5GQB4Ds",
      "input": {
        "note": "The jug's upper body now fills the right wrist view between the two jaw wedges, and the top view shows the gripper over the jug. Closing to grasp the neck.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01GtrtVoZii9HFabE5GQB4Ds",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.8978, 0.9016, -0.5896, -0.0479, -0.0338, 0.9968, -0.0711, 1.6192, 0.9684, 0.3279, -0.0788, -0.0444, 0.153]\nstate[eef_state]: left_x=0.306 left_y=0.001 left_z=0.2432 left_yaw=0.0153 left_pitch=-0.0257 left_roll=-0.0002 left_gripper=0.9968 right_x=0.4977 right_y=-0.0179 right_z=0.1971 right_yaw=0.014 right_pitch=0.2383 right_roll=-0.0003 right_gripper=0.153\nstate[joint_eff]: [-0.0752, -1.7436, 6.7897, 1.7509, -0.0806, -0.0317, -0.0122, -0.0342, -9.6205, 7.8974, 2.127, 0.0659, 0.022, 1.0085]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 442):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72fc315f53a06d3a904ab518a876e44c6011ec97dfad6714e7b4c55675625244",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 442):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15d088cbbc6f382ccc46f07514868df52edd10944cc8007f650d54f25dfeefb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 442):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:12b16a0fdfb7472d93e0f540d6f57c9709ebd58c7d8ed2415084fb1d6d7ec130",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 61 attempt 0 · /messages · status 200 · 24.49 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 175 changed as sent

message 178 changed as sent

message 181 changed as sent

message 175 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.8978, 0.9016, -0.5896, -0.0479, -0.0345, 0.9968, -0.0975, 1.4559, 1.1439, -0.0441, -0.1047, -0.0616, 0.9988]\nstate[eef_state]: left_x=0.306 left_y=0.0011 left_z=0.2432 left_yaw=0.016 left_pitch=-0.0257 left_roll=-0.0008 left_gripper=0.9968 right_x=0.4718 right_y=-0.024 right_z=0.2707 right_yaw=0.0188 right_pitch=0.2061 right_roll=-0.0047 right_gripper=0.9988\nstate[joint_eff]: [0.0889, -1.6752, 6.8034, 1.707, -0.0806, -0.0171, -0.0073, 0.335, -6.5299, 7.5556, 2.1612, 0.0366, 0.1832, -0.1441]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 178 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.8978, 0.9016, -0.59, -0.0479, -0.0341, 0.9968, -0.0769, 1.5894, 0.9928, 0.2314, -0.0811, -0.0574, 0.9988]\nstate[eef_state]: left_x=0.306 left_y=0.001 left_z=0.2432 left_yaw=0.0155 left_pitch=-0.0261 left_roll=-0.0005 left_gripper=0.9968 right_x=0.4913 right_y=-0.0199 right_z=0.2002 right_yaw=0.0165 right_pitch=0.1961 right_roll=-0.0082 right_gripper=0.9988\nstate[joint_eff]: [-0.0752, -1.5248, 7.0222, 1.7021, -0.0708, -0.0171, -0.0122, 0.4444, -8.9231, 7.665, 2.4005, 0.0415, 0.1685, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 181 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.8978, 0.9016, -0.5896, -0.0479, -0.0338, 0.9968, -0.0711, 1.6192, 0.9684, 0.3279, -0.0788, -0.0444, 0.153]\nstate[eef_state]: left_x=0.306 left_y=0.001 left_z=0.2432 left_yaw=0.0153 left_pitch=-0.0257 left_roll=-0.0002 left_gripper=0.9968 right_x=0.4977 right_y=-0.0179 right_z=0.1971 right_yaw=0.014 right_pitch=0.2383 right_roll=-0.0003 right_gripper=0.153\nstate[joint_eff]: [-0.0752, -1.7436, 6.7897, 1.7509, -0.0806, -0.0317, -0.0122, -0.0342, -9.6205, 7.8974, 2.127, 0.0659, 0.022, 1.0085]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 442):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72fc315f53a06d3a904ab518a876e44c6011ec97dfad6714e7b4c55675625244",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 442):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15d088cbbc6f382ccc46f07514868df52edd10944cc8007f650d54f25dfeefb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 442):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12b16a0fdfb7472d93e0f540d6f57c9709ebd58c7d8ed2415084fb1d6d7ec130",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStQkKEAgRGAI4AUIIdGhpbmtpbmcSDEP8UUcQ4WNppWGWKBoM7W59FLJA+Nt1cWCHIjAYCJPpfq3+lgwCmw+YEHjbh0ka5MCroadnde+4t0Ngj4YLMEToMQOT1d7I8HGQ2hIq0giy2u5t2lJo74FH6GSVeAfOQZ4qr5FfqodM9mIs/iWPQDjub7M0wQqfA2iTwmsAVkmUnmcbw4Fw2uVoqArvJZ6153ehRsVZfcjj6Fk3+jPdY5Rmh6AMR4jxoTMBSqk2pqz5wuzmcVUqsYyU13SXImOZpxKMfteSZqtXsVQmxFMpAp8pEHB41i858YE05L+zN+vWZcxi1OsNgj0pnQyvSuyAW/FyzsH8UzXS5YzhvMc5bfkOom0a+mta1qiMXaM0x8s8d9sfuiZvlpDls8o7RymBnXBcYhaKzuZQXZyhkZNVGSw4X1NErvYCSX1ypbI5sOunEUw23vekC6/1C9XLKgeIk5+zMv66OCBdt/4gmjl7EUfjyo+kvgzU6AuTNOG+tlYcJFYE4WwOZiZ+EdpbxfnDWD4cYQSm1Yn9fVWXwtqY4Zypj/U4jYuM/45Oktp3vtqsUQ91bx24Q+kxJCJZRUX4h+NRfKgClcBmxEHXQ67aQK+x1OX+TIsE1MG3miNSlPLQ0d626i+2ppOMh1NCCUZn+ruNC1rg2Fm5hKxdAnyS3Zmsb4IR0C4oREynjUy9TruMML+Nut0V75kNqmS1ltUjOy7ommmGiNAtHSErrNELZA7ySeoWwuHk1jmsRBazDf+bi34gYLJoG+EVaFQ+X7mGeASdWzei98yKHOjUby6ZaLsMQxlNMm1k3RzLLEKRMGE8izmkvD0w0e8HS70ay/JNmlg9AHgF36fEbGQZjrCjZ7mazH7S4As94SeAXeTuIHo8k65caO+XNaWfLXYT1WTXfalvH9C725WOhT9kussnGVLWaqFdtSpApRDWPiYFyMEXhLQSl9s8Y0WTgoFg5+sOqx6x//udn2f/Fw/ESYbxhKiiVOErHQbgPLqjEWwMt3z/Db85H3pvM/DYPAkKW8yvu+mWKdYfCmLJ5UVjbaC+dlwgQrnM7NEuXzl1cLvqWSjZTZi/cUoqYwbX2d38ChSOS3dNQ/Ex9VNWlegNacTblrMJ/MCM5qv0ur7F/v/sA49GlQfpCDDrCy9lChcAR4sfbDPdG2a68Zolwhrip7TzI2nyScS12vkDp4xqsar5Y7+ulrrGf3c97GiIZH5rVc5ce110AJkIUikP432TcxU6G8b5wYdjQeEzy0vdPccONJwieCzREXM4P54cbS+HVHbs2Gsss6WS9dlauGe5BiLzlJLyGKQOLvMr4xcrjarwqfpodDiOvwmlL/ZxEbsDR5YhuJduWkCauC+nrBtLYmrgDClD0yq8nF/CkxTL9fzxYkvD77vuTEFsK4bZgtfxJo2EFpCuZ+ape04KjG7QVvOr4W4k41pdUZHijEsk7Sd2iehWo6kEqgufXKkzTio45Ibhj5w8cS7xcuCvS5wL59jf6nV/DZsnBX49RyEGE5Zz8kSwlyv9bdJrTBtVETaw7YRwfD3jlQj2D93W6929eH9ZB2LwKA7A4t8jERcnXi00yfgBChgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KiaRPS8a7NjXX2ScGhY1qc",
      "input": {
        "note": "Gripper settled at 0.15 (~1.5 cm), likely holding the jug's handle. Lifting 7 cm to confirm the jug comes with it.",
        "targets": {
          "right_pitch": 0.3,
          "right_roll": 0.0,
          "right_x": 0.49,
          "right_y": -0.02,
          "right_yaw": 0.0,
          "right_z": 0.27
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01KiaRPS8a7NjXX2ScGhY1qc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.8978, 0.9016, -0.59, -0.0479, -0.0341, 0.9968, -0.0711, 1.5539, 1.0458, 0.1638, -0.0788, -0.0444, 0.1571]\nstate[eef_state]: left_x=0.306 left_y=0.001 left_z=0.2432 left_yaw=0.0155 left_pitch=-0.0261 left_roll=-0.0005 left_gripper=0.9968 right_x=0.4907 right_y=-0.0174 right_z=0.2263 right_yaw=0.0136 right_pitch=0.217 right_roll=0.0015 right_gripper=0.1571\nstate[joint_eff]: [-0.1299, -1.7162, 7.0359, 1.746, -0.0708, -0.0366, -0.0122, -0.4855, -10.5504, 10.6462, 1.8974, 0.0317, 0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 447):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9de460e72ab783863947b0a9cb0cd0634c813d675987e11dbfb22d2f18ac71ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 447):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10dff3ae66a5b8e4db82d56e9e13abd4d22810041b56a555f6710dbbf22f64ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 447):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:496cf49d60bb79abcc10ebbebf900d8d91b8c20186074b5473728397eca7c2c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 62 attempt 0 · /messages · status 200 · 27.29 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 178 changed as sent

message 181 changed as sent

message 184 changed as sent

message 178 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.8978, 0.9016, -0.59, -0.0479, -0.0341, 0.9968, -0.0769, 1.5894, 0.9928, 0.2314, -0.0811, -0.0574, 0.9988]\nstate[eef_state]: left_x=0.306 left_y=0.001 left_z=0.2432 left_yaw=0.0155 left_pitch=-0.0261 left_roll=-0.0005 left_gripper=0.9968 right_x=0.4913 right_y=-0.0199 right_z=0.2002 right_yaw=0.0165 right_pitch=0.1961 right_roll=-0.0082 right_gripper=0.9988\nstate[joint_eff]: [-0.0752, -1.5248, 7.0222, 1.7021, -0.0708, -0.0171, -0.0122, 0.4444, -8.9231, 7.665, 2.4005, 0.0415, 0.1685, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 181 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.8978, 0.9016, -0.5896, -0.0479, -0.0338, 0.9968, -0.0711, 1.6192, 0.9684, 0.3279, -0.0788, -0.0444, 0.153]\nstate[eef_state]: left_x=0.306 left_y=0.001 left_z=0.2432 left_yaw=0.0153 left_pitch=-0.0257 left_roll=-0.0002 left_gripper=0.9968 right_x=0.4977 right_y=-0.0179 right_z=0.1971 right_yaw=0.014 right_pitch=0.2383 right_roll=-0.0003 right_gripper=0.153\nstate[joint_eff]: [-0.0752, -1.7436, 6.7897, 1.7509, -0.0806, -0.0317, -0.0122, -0.0342, -9.6205, 7.8974, 2.127, 0.0659, 0.022, 1.0085]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 184 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.8978, 0.9016, -0.59, -0.0479, -0.0341, 0.9968, -0.0711, 1.5539, 1.0458, 0.1638, -0.0788, -0.0444, 0.1571]\nstate[eef_state]: left_x=0.306 left_y=0.001 left_z=0.2432 left_yaw=0.0155 left_pitch=-0.0261 left_roll=-0.0005 left_gripper=0.9968 right_x=0.4907 right_y=-0.0174 right_z=0.2263 right_yaw=0.0136 right_pitch=0.217 right_roll=0.0015 right_gripper=0.1571\nstate[joint_eff]: [-0.1299, -1.7162, 7.0359, 1.746, -0.0708, -0.0366, -0.0122, -0.4855, -10.5504, 10.6462, 1.8974, 0.0317, 0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 447):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9de460e72ab783863947b0a9cb0cd0634c813d675987e11dbfb22d2f18ac71ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 447):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10dff3ae66a5b8e4db82d56e9e13abd4d22810041b56a555f6710dbbf22f64ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 447):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:496cf49d60bb79abcc10ebbebf900d8d91b8c20186074b5473728397eca7c2c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqx0KEAgRGAI4AUIIdGhpbmtpbmcSDKRSJBdMmGEes0b0YRoMWeLawPeQYAJZSi1yIjCuUj/wccwcvAYEG/KAKBa9oUDiJ9V7ozLSd5baOTEnehvYotyVcBmX9h9GT4y+F3cqyBztwQLkdb5ii9OVU+Hd2zjDpi9dc4P6qwmYj8hYQs28A3UEd81WZd2sMQk6F06aqNC3vuawE0La6lF2DZQ7TurQTk33uKZgsdxFhvJddtlJKo8zQgeJ+5XG4vFv55s44v914PupLXHW+mk0C3Q9YmKbTHn8ct2AXIT2Wd1FrcYRXX5ez8pA8UkSlk8rqwXkDunFlNFGuMvxvzeWN/F7XdQmgJ5KnYN6qw4BUDwj6yqrHyUeurJxL2UhhNnZ3Q4D3oIMzLNW3phzDKrwLECygb5LhXB1DrAuLs62TPz6Ld/quYIAdm8UlEayBZhoy5HIS2vZzR7FD6w7lmEO0c2EYUvadMYi5G2ipy4Lk2D1v/8aAotF0WUE4glUYrgfe1VDSgIlDumvH3sWd34Fc/V7/vJq3DYmI2XaL+VdRX2L5V1uinxk5AQIQN8y1wMO9NcnpMzXcfufKNIOcfQ6qsSSO6/V8lrk+/fC3EDHH9QWdIjUu7Ay5mfCEPsPBwjk9XJujnen/PQzb74ylfSjPFPzlQZmUUbaBkhPAzw+al+Smg5mDh66jjGuLYkkh3ojDjCzcm9mH3cbadZjWpIfuldBaivsW2sJh1AU7Ac1b+R7RGf05UgJiGUWOvY6I9Fc4hSXvh8L722k4DKnwKVcZYSqoR/RSMOCUl5o5Ku3yNWYN+54i5jZQncpzxDeXKHbSS2LccgS+7hPGoKnKmzTl96dgSntKJ7YLUqBDxQ7EjKspc4ObePzV1x4TDov7zeWOFoL+izkcGqglVwir9oXJbwk+ru/+krqMzeRTfTqdf7ndtRY/by5WKg2lN/x70zTCIZmLrIko91UT0Y2eYxYhL0mIOz9CFWHOzqlIQejq7JE8+5cm9Y040qlPFHphUtBuwLZnRM8FmyzaaA24v2SQi02U5ywrN3S1iMcaq2rQmJhVw2AIMCUJN+1GoIt5B3FVun1iys++puev6PmXx9+qD4/zkMSodRaQzp729cvlG4iPOXc6Dvtj/xrHIyNOm4tzzhI5k78rIqKLHHlbzRKfOXGnbHl9B6qpkilXfzwEzouM/M1wqV3W/UoO8g7aUpz7DtEsNkmHCnL+k3pTYCL2E73dLS4DSF+E32Qi2lt7Xyfa7X61/8XJklgxxkE3G52f7tMeOdKKlPVGWL62RJOJt4M/ZCPvstxE6wV3ASEmF7aFGRbqZ7pifK/lF3VGjlIt9H0hbcwqe7YZ+tsQJiQzGix3OhQEuIscu90mBmsKZyiz+UfviZjM1FGr1dU4TqDhSw4WajdfvUs4pFzFvd8OeoSbrticLxTBQpNQ1ewi5YZY5nljx0tsOrnG04sWHhlhkFVCN3xtVGlKhaGUSyECdXDHz21Vnfh4Yd8+ItTu1N8bEZnTRc/lqHTTH3tnx4rGZWAy1GZBXr+An6tvMdvHwVk1ZP15e8/1KzEdIUMLo3yhnJVQcdehu5v3OynrZptbyD/qfF+eNPsqtDXsbUeImPoZNReq4/72dW+hDnAWMPIQk9LR8NwU4YTGIltCfXBYJUcOVbTsxgj1VM/QeJ98NYTUydbkPdanRVQIavNQWApvGfqy0+wMidh4d39bbA364JeHtg+7QZOya7YkfW8tkoqnhqMfmOB81JiICPQ5IPAla30itA1FQWYB3bI1NS6YNJoo28SV1hdKQzW702t0noExYSrKG26jAEYf669+jkJIgDgfeDyA373wiznPTvQ9j4gsb17YX0N3xrVo3tkDg6AB3L06S5lEXuoSpYMd3W8vAfBt1mT+p+COSa4qvfL9oHAtRjBy/QgXs0XEH/xKhN35UPGOw1tgplR6mxREm4evN5d2Kg0TUJo5WxmO/E22GlfSboWdBbMTjD8zMmzveVuJTFn4GZlJD1wQAYeAqqtDDiDWXvBwi8RWYUczLdKkARe3KKidFvClJWrO2MA8RFPtGbM5G6flDl2Y8Jg7bZM4hTknnbbHHwLLCO+RtK5/Q1QH5zRHi5mcGW8ruVdSl6wPUCciOhLCz96JbgNqXvqg8shXcPswOiEdlVrY1yoNKi767P8xsL89LfGn6taKPPXeY8IICz9UyurfrVAoB2/5EbQB0pmryP+cVj/PEfYDxfKaR4twhmjxF2n4bfJtxsGzXKjcBhbSL6niQ1pIhZbiOjZqQp16UHTIgfM0WHVJye9czgbT4fQrAgc5pWr2ilj+aYlkEdOScu7Qyqgbn2fsDrMkJ/X7wuNvft+tC23XxBNjuAGF13Qr7l6IMj68PfKZDUzsHIYB07nPgU3dJvt6dpilHLHDgpSNDkqV6kEl2TyZmMkaY0ON4l8RpHM1WZYBWv8r2NmfzibSvYtlimdQ1ZTSxk8UyJNikcXAYxKJQ7Bxi5jkJaq+BqxVvLt2X2vc7sd+SLx4kkd4A2VgmOY+iKpoaK6BFXUTr8ZRe6dUhegBXeBTT7ajqcn+uzP6fj5AkVAmz/wAHm3zEuuNNGaxMoJWLi2PWgw8pgeTSEuu5EnDuM/Aqc+lVgg0RxpMreJG/P0r+6p/sgw8lL7Jz6lRojSgAGCqI07OgF7NLhDhg4CMY1PNhntkmgtYKHasO5ydYwamcxP6S0g8UMMNVgovBtXR8behId+9pRcTU3sXaF1g7rDM643U63ZsxmR4+wfhezPvwiIzI5wuTcHVBEFriXiFOdxM2RqIqLnf1+HlyPy/wAGmG2M1AJqDH8TxH2Fes3S9jWNulYjqvJwOcneGxro0B1hJeBP5ybWYi76QlAvYSK/3RP/F0p5DemWBINa6u9KqYcDlUzg/z+zKJDnP4jAZwGeXnvCH9qP9EG0RaZh1A4wi8EfW/3AUsjmc0n8paiI+C3wbun/2IJP52mqr1q4xLCTQVPDs3a2tFTJutnC/HabZhOHUwEb1smBQc8O/f9g7DKGmAuOPpob1yCdtczjdl0Df7tkGCu9/X3o5aw30pClu/sDVECpPvp5uy0Pzz41avZxtLXX8Q6BJOpnBX4h3hDhVqgR/uyzaNqNqbfbQiumdtixCjysO6LUow4uaQbmVsVc0gUY+EPxzQPMhWso24KMfhX1jBt8+kn1MeJT/vPqkKgj4ZnlnZovnGQEnxcDiorvGCcYFTSwYdhNJGVtXdXGCPvdT71GrLu0eBFtlMZfMOCyTziYoXuLTFnn9GYLlyp++dTLm8AcJfb1JO7QPIDYhbMhf+wt608ha0H4ovZiNTGOdu7Ej9vloLBJOSZ5cuKPz1/IAfEjuFE7wS0zvJZKY5Y6qLM0lbIXz0lVUKagPOGNIL4ps6TZBEch02cTDuA8iDnXV2VbCheyCb26Ii0H9a80xiOu5e7feCtlebuI1U4siGPmPxJKvXzzs4N07uiMeSlzm2sCgl7tdyb7ZfyB9MVg4C+6OknoVHNGSoEpWKVqB5PQd89pHnKYlrT/DOnHl54nUad1GURqKckj66LXHpoVhsffZBsDIMOcfnAQkLs4PcliwodvfLQpvjQb3nUnBdsPf1hBPgssYsV2BlB8LU0ly6oU+GJZpqmBLIMqDyYa15YUiYqyvxw8fqfCxNdOQsPN+ZOYYqjf4xea8lh0TYRiIuYg1DElF49HlSSVaXWCmSefkT+Jq0o81DHEVbsi/+Ob3hN4/aS6wL/NpWiRJvKC8d9PeNFo2erwc4fA2rbMu75zz1V92qutB6qSq0mNAh4PrPt0z2jOZcy96RM8wSYwX8PWb0YL2fZKXkmbtA94NUJPMgUwJ6HabybFhCoB7pPyG20RQXGYCAr8UkbFQiRAdtb49W8Jh49clrbUDVBMdF8F1EtTNGtWoI1LVyjPN1SdUBJZ8pxEEYIkBBhj1035CtLF418lWPOXDDR36/nhNIrhvo8/lZmyZGXYKghW/wH2OQ35Vy9DaJom7LTOFrYwKGXYwix9i8UKSXdGk2j1SX/GQ30vlDt7gx0Rw0bhUpqS+0wSwpKmK//m3n4C7WcNMB4Kgz7/PWwGMDQEiy6hkMtheU1aE9akzzGPwq9vcmf4QCrWiBil/vPXEE1I0sWIM4OgLwE67GJ2K1nE2KqhuQA4VcmZ5Io1oe+t7yc+PlcJSkYLtzRhVfEMs+fcWMAmNrZaoHCyqCJ7gpEumM6jCDjMNC3+ZMfy9qdJv+g5crpiKYw3F7k23ASfoWA9UOfdDovXw7U0n4LhI8S5L3PRy5YCJsLOYQvNvbwywre5TMwOP7pLLjjAKpYA1GKTl/AaFN+INL0zhtSeJjcqLXKcyYNk6i32ZPLfjXFwESxZ95IXl71zaRGt5W2TA/oRBSVZmn2bb7n0RQTkR9/2KVUuqnwBF2At2X+gpjIwZeyNmX2Jo7zvSbHc1x8qlleQ6Y4tKAosxw1/MOMl+rWTP8Jb8ubS14/QUB2dbJfXAcbyvHIOlHAelr2gzrLO8v0AIQa5Q7bxLNDJa0Z5H2++kT2hHi11HkLKFM5Y2zxesf9F19wjQHTkmVest8AQnGECX2a/jYCkIoqTBTgN1918Srw7y04oclopn3aoA05P1NFtH6tXdlSKs2O5f2t6kDA+B1lWcC9zIoxhOhOdQE1d5QLPnC4h2QJpt/cyacCfrlehcmvP0YJzfHCDkWR9O+CVdfkjo1ZovHJ8Bdr54E1EA/SfJ4VTX4YenuY2GpQaH+thsH1wx/UDymHqa/COEKEqlUVogPvVWnKlfCma7LUBcc4T2QcG4LV1XAkIP64jlpcwE2+/1xUkxxO2uFnWAwnqPjRkHklHZdW7bfNJxZzqPLbMCF6uEzrQVumyqFW9aMj4Reb0O0up+2lR73E0DdMnZHNXVNBr4+E1nfKWU7iLiECKZ/j7ce1TL+YKFgHQYkNUrmFqx+k7IENv1jaYUucqQBn0JiGDDzGyzoAYCMSnZtSCNne+XBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LeKV2GeAngwE2NPyyQ3LEg",
      "input": {
        "note": "The jug is lifted (wrist view unchanged through the lift, efforts up). Carrying it left toward the cups, pulling back slightly for reach, and I will locate the red cup in the wrist view from there.",
        "targets": {
          "right_pitch": 0.2,
          "right_roll": 0.0,
          "right_x": 0.45,
          "right_y": 0.2,
          "right_yaw": 0.0,
          "right_z": 0.27
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01LeKV2GeAngwE2NPyyQ3LEg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.8978, 0.9016, -0.59, -0.0479, -0.0345, 0.9968, 0.588, 1.6146, 1.269, -0.1322, 0.5068, 0.1894, 0.1571]\nstate[eef_state]: left_x=0.306 left_y=0.0011 left_z=0.2432 left_yaw=0.016 left_pitch=-0.0261 left_roll=-0.0008 left_gripper=0.9968 right_x=0.4466 right_y=0.199 right_z=0.2461 right_yaw=0.0522 right_pitch=0.146 right_roll=-0.036 right_gripper=0.1571\nstate[joint_eff]: [-0.1573, -1.7299, 6.7897, 1.7705, -0.0464, -0.0024, -0.0073, 0.253, -8.0889, 10.6735, 1.7558, 0.4225, 0.1294, 0.9988]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 466):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:139c9fb95d5f24b42d05342f25d8beae3d2f44dadccccfe9c786d534356330eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 466):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8f1c8787e70511630fe56fbf0613beb5ad033496756ef6601f967c9463c7759",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 466):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fd64183301b422966d8f4122d1bf47b77ba3581e1233c7dc9ae1f7e50abfdcad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 63 attempt 0 · /messages · status 200 · 20.99 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 181 changed as sent

message 184 changed as sent

message 187 changed as sent

message 181 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.8978, 0.9016, -0.5896, -0.0479, -0.0338, 0.9968, -0.0711, 1.6192, 0.9684, 0.3279, -0.0788, -0.0444, 0.153]\nstate[eef_state]: left_x=0.306 left_y=0.001 left_z=0.2432 left_yaw=0.0153 left_pitch=-0.0257 left_roll=-0.0002 left_gripper=0.9968 right_x=0.4977 right_y=-0.0179 right_z=0.1971 right_yaw=0.014 right_pitch=0.2383 right_roll=-0.0003 right_gripper=0.153\nstate[joint_eff]: [-0.0752, -1.7436, 6.7897, 1.7509, -0.0806, -0.0317, -0.0122, -0.0342, -9.6205, 7.8974, 2.127, 0.0659, 0.022, 1.0085]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 184 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.8978, 0.9016, -0.59, -0.0479, -0.0341, 0.9968, -0.0711, 1.5539, 1.0458, 0.1638, -0.0788, -0.0444, 0.1571]\nstate[eef_state]: left_x=0.306 left_y=0.001 left_z=0.2432 left_yaw=0.0155 left_pitch=-0.0261 left_roll=-0.0005 left_gripper=0.9968 right_x=0.4907 right_y=-0.0174 right_z=0.2263 right_yaw=0.0136 right_pitch=0.217 right_roll=0.0015 right_gripper=0.1571\nstate[joint_eff]: [-0.1299, -1.7162, 7.0359, 1.746, -0.0708, -0.0366, -0.0122, -0.4855, -10.5504, 10.6462, 1.8974, 0.0317, 0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 187 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.8978, 0.9016, -0.59, -0.0479, -0.0345, 0.9968, 0.588, 1.6146, 1.269, -0.1322, 0.5068, 0.1894, 0.1571]\nstate[eef_state]: left_x=0.306 left_y=0.0011 left_z=0.2432 left_yaw=0.016 left_pitch=-0.0261 left_roll=-0.0008 left_gripper=0.9968 right_x=0.4466 right_y=0.199 right_z=0.2461 right_yaw=0.0522 right_pitch=0.146 right_roll=-0.036 right_gripper=0.1571\nstate[joint_eff]: [-0.1573, -1.7299, 6.7897, 1.7705, -0.0464, -0.0024, -0.0073, 0.253, -8.0889, 10.6735, 1.7558, 0.4225, 0.1294, 0.9988]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 466):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:139c9fb95d5f24b42d05342f25d8beae3d2f44dadccccfe9c786d534356330eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 466):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8f1c8787e70511630fe56fbf0613beb5ad033496756ef6601f967c9463c7759",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 466):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd64183301b422966d8f4122d1bf47b77ba3581e1233c7dc9ae1f7e50abfdcad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": 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CcBaTHmuocd7SiM5QRb4e4wh7/9vAAMw0II48s6seByx2goteiwUeGyFyHTeO+3+RPVK7nba1YlQzy7mLTGGVVTD4vkWhfo5ZlXCuMjRMdsI474OrEYVeSsItpzRkOuwiwmP/HsweAug3kY7SKbZwGH5T4MrmtN9bR3X0iHjsL3A4HwC618nMj+C8r3K1iHEUQt/eM5dilhh2nxAJUCFfSaynxjZV7LINwzqSYC7AOFPR/NSiHEto17xc1nBJymsBDSnGkWYz9WwnspaqPp9Iiy5SwhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SCwbYCYbW7pJqyNhK7PfdS",
      "input": {
        "note": "The jug is hanging by its handle right next to the blue cup, and the red cup is far to the left (~y 0.44). Pulling the jug back toward the base first so it can pass behind the blue cup without knocking it.",
        "targets": {
          "right_pitch": 0.2,
          "right_roll": 0.0,
          "right_x": 0.36,
          "right_y": 0.2,
          "right_yaw": 0.0,
          "right_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01SCwbYCYbW7pJqyNhK7PfdS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.9016, 0.9016, -0.59, -0.0479, -0.0338, 0.9968, 0.7692, 1.3998, 1.0698, -0.1925, 0.6647, 0.2886, 0.1598]\nstate[eef_state]: left_x=0.3065 left_y=0.001 left_z=0.2421 left_yaw=0.0153 left_pitch=-0.0299 left_roll=0.0 left_gripper=0.9968 right_x=0.3662 right_y=0.2079 right_z=0.2454 right_yaw=0.0547 right_pitch=0.1562 right_roll=-0.0323 right_gripper=0.1598\nstate[joint_eff]: [-0.0752, -1.8667, 6.8308, 1.6972, -0.0855, -0.0513, -0.0073, 0.2803, -7.5966, 7.3094, 1.8388, 0.4322, 0.1001, 0.8523]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 473):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3051f1bffc0edd80020294bd75759fc665a3c16bbec6fd61d5491d49614d28d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 473):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:339ede2133676b88ce02cf5ce2cfde3c4e2cf19575a6593d18cb53b01c84d50d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 473):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1f370bfc2d777b03a9b9364b023c20e1d165dbeea48a7c11231799c15d7a58d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 64 attempt 0 · /messages · status 200 · 8.848 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 184 changed as sent

message 187 changed as sent

message 190 changed as sent

message 184 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.8978, 0.9016, -0.59, -0.0479, -0.0341, 0.9968, -0.0711, 1.5539, 1.0458, 0.1638, -0.0788, -0.0444, 0.1571]\nstate[eef_state]: left_x=0.306 left_y=0.001 left_z=0.2432 left_yaw=0.0155 left_pitch=-0.0261 left_roll=-0.0005 left_gripper=0.9968 right_x=0.4907 right_y=-0.0174 right_z=0.2263 right_yaw=0.0136 right_pitch=0.217 right_roll=0.0015 right_gripper=0.1571\nstate[joint_eff]: [-0.1299, -1.7162, 7.0359, 1.746, -0.0708, -0.0366, -0.0122, -0.4855, -10.5504, 10.6462, 1.8974, 0.0317, 0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 187 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.8978, 0.9016, -0.59, -0.0479, -0.0345, 0.9968, 0.588, 1.6146, 1.269, -0.1322, 0.5068, 0.1894, 0.1571]\nstate[eef_state]: left_x=0.306 left_y=0.0011 left_z=0.2432 left_yaw=0.016 left_pitch=-0.0261 left_roll=-0.0008 left_gripper=0.9968 right_x=0.4466 right_y=0.199 right_z=0.2461 right_yaw=0.0522 right_pitch=0.146 right_roll=-0.036 right_gripper=0.1571\nstate[joint_eff]: [-0.1573, -1.7299, 6.7897, 1.7705, -0.0464, -0.0024, -0.0073, 0.253, -8.0889, 10.6735, 1.7558, 0.4225, 0.1294, 0.9988]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 190 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.9016, 0.9016, -0.59, -0.0479, -0.0338, 0.9968, 0.7692, 1.3998, 1.0698, -0.1925, 0.6647, 0.2886, 0.1598]\nstate[eef_state]: left_x=0.3065 left_y=0.001 left_z=0.2421 left_yaw=0.0153 left_pitch=-0.0299 left_roll=0.0 left_gripper=0.9968 right_x=0.3662 right_y=0.2079 right_z=0.2454 right_yaw=0.0547 right_pitch=0.1562 right_roll=-0.0323 right_gripper=0.1598\nstate[joint_eff]: [-0.0752, -1.8667, 6.8308, 1.6972, -0.0855, -0.0513, -0.0073, 0.2803, -7.5966, 7.3094, 1.8388, 0.4322, 0.1001, 0.8523]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 473):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3051f1bffc0edd80020294bd75759fc665a3c16bbec6fd61d5491d49614d28d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 473):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:339ede2133676b88ce02cf5ce2cfde3c4e2cf19575a6593d18cb53b01c84d50d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 473):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f370bfc2d777b03a9b9364b023c20e1d165dbeea48a7c11231799c15d7a58d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TEtFPHromi22CChBs2iyYN",
      "input": {
        "note": "The jug is now behind the cups; the handle grasp means the jug body sits ahead (+x) of the jaws. Moving left behind the blue cup and beginning a negative roll so the mouth will tip toward +y (the red cup side).",
        "targets": {
          "right_pitch": 0.2,
          "right_roll": -0.7,
          "right_x": 0.34,
          "right_y": 0.3,
          "right_yaw": 0.0,
          "right_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01TEtFPHromi22CChBs2iyYN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.9051, 0.9016, -0.5907, -0.0479, -0.0334, 0.9968, 1.0855, 1.9381, 1.689, -0.7681, 1.2098, 0.3279, 0.1605]\nstate[eef_state]: left_x=0.3068 left_y=0.001 left_z=0.2409 left_yaw=0.0151 left_pitch=-0.0341 left_roll=0.0005 left_gripper=0.9968 right_x=0.3467 right_y=0.3108 right_z=0.2436 right_yaw=0.0396 right_pitch=0.1511 right_roll=-0.6152 right_gripper=0.1605\nstate[joint_eff]: [-0.1162, -2.0581, 6.9128, 1.7705, -0.0855, -0.0171, -0.0122, 0.4581, -11.0838, 7.9521, 0.6276, 0.862, 0.1343, 0.8571]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 482):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce7913110bf9f5f459d83cdedbf6a42f17d378c5b9dfcb8c7d78698112098cd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 482):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:647b157aaa8b2d3794c3d938aed8fc15b882cbaffd1954e522944f13a9ddb318",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 482):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a7efc315bcff8ec28cd80c83224c2e929c49f587359c4ed86b7db761fe40aec4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 65 attempt 0 · /messages · status 200 · 11.84 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 187 changed as sent

message 190 changed as sent

message 193 changed as sent

message 187 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.8978, 0.9016, -0.59, -0.0479, -0.0345, 0.9968, 0.588, 1.6146, 1.269, -0.1322, 0.5068, 0.1894, 0.1571]\nstate[eef_state]: left_x=0.306 left_y=0.0011 left_z=0.2432 left_yaw=0.016 left_pitch=-0.0261 left_roll=-0.0008 left_gripper=0.9968 right_x=0.4466 right_y=0.199 right_z=0.2461 right_yaw=0.0522 right_pitch=0.146 right_roll=-0.036 right_gripper=0.1571\nstate[joint_eff]: [-0.1573, -1.7299, 6.7897, 1.7705, -0.0464, -0.0024, -0.0073, 0.253, -8.0889, 10.6735, 1.7558, 0.4225, 0.1294, 0.9988]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 190 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.9016, 0.9016, -0.59, -0.0479, -0.0338, 0.9968, 0.7692, 1.3998, 1.0698, -0.1925, 0.6647, 0.2886, 0.1598]\nstate[eef_state]: left_x=0.3065 left_y=0.001 left_z=0.2421 left_yaw=0.0153 left_pitch=-0.0299 left_roll=0.0 left_gripper=0.9968 right_x=0.3662 right_y=0.2079 right_z=0.2454 right_yaw=0.0547 right_pitch=0.1562 right_roll=-0.0323 right_gripper=0.1598\nstate[joint_eff]: [-0.0752, -1.8667, 6.8308, 1.6972, -0.0855, -0.0513, -0.0073, 0.2803, -7.5966, 7.3094, 1.8388, 0.4322, 0.1001, 0.8523]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 193 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.9051, 0.9016, -0.5907, -0.0479, -0.0334, 0.9968, 1.0855, 1.9381, 1.689, -0.7681, 1.2098, 0.3279, 0.1605]\nstate[eef_state]: left_x=0.3068 left_y=0.001 left_z=0.2409 left_yaw=0.0151 left_pitch=-0.0341 left_roll=0.0005 left_gripper=0.9968 right_x=0.3467 right_y=0.3108 right_z=0.2436 right_yaw=0.0396 right_pitch=0.1511 right_roll=-0.6152 right_gripper=0.1605\nstate[joint_eff]: [-0.1162, -2.0581, 6.9128, 1.7705, -0.0855, -0.0171, -0.0122, 0.4581, -11.0838, 7.9521, 0.6276, 0.862, 0.1343, 0.8571]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 482):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce7913110bf9f5f459d83cdedbf6a42f17d378c5b9dfcb8c7d78698112098cd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 482):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:647b157aaa8b2d3794c3d938aed8fc15b882cbaffd1954e522944f13a9ddb318",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 482):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7efc315bcff8ec28cd80c83224c2e929c49f587359c4ed86b7db761fe40aec4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlgoKEAgRGAI4AUIIdGhpbmtpbmcSDPzcWFatuHofe1LSnhoM5JQ8bgC3kLJ1ImHQIjBrcq8i6hPFsHD6C4RoV3sER/i+qVuUSMJRsd2Tp1KWsxySUi9NJ2uVbQjm8W+vWNAqswl8AvUsz1ID/7jvVussEOWMCIX5BgK9QScuarGNSIKlQegsjxff21E+f4MyJC9EvQ5hYdVIAv8x54/UFkmLH1ifSrXRWSkFHesPB5Y3OMNqwULsx0LdwXPPuur/3vQwkkWgTFLM5vsAUl+R8lE8nr4Fs9cNrTIAuUQ2Sl4XumnKwTKAVdmIqLsQJtxqjpjZD0JHn7CNbuoTIrRAycbMh/RGbJeNoEV4eANuSoRLfujZdUBRCRM5WRBDpNUP83B3ZwzZbhsE8cnyvg4JL7CwxXbhUr2VywlJINcduHesTNomftBtSaIq1tdlKRrW1oEu6Godz5dwgpSDewXNypSfsx4zYBStheliXx5A/CmyW6yRrZ7XVrLo6ajxGY+4a2C0xxIZzwxzgUyszBwO7h0begNC3I0cQCv3MzXxW/8fZitgd/CEWE+hYbmiR7KvQpaSKof9B3wfxUMFzM9ld2IuvMP7DBxoX8QflUmeGjiB/pInUEQZDhea3XHzQiv5Fnvcd4upOXbTNzKknAutbmr4qD7Kjg1cNDXKwefNmDxocyvZ8Zl4bZ+Ix+/FDAQKyz6ngIDPVFfcg782HmHpkCtqj7DbGvKB8h+A/ZQ8o3QwMaR+jzHDSeRDMRS5g319SOWjYmEWOllc2vKQ+fDOwr5JOawBfYcaE1vhCAGfs/nfwpIntHRdmSO2yAVGzhbRwOz5Q/tMXw4/E9KCC7RfM1W25FeBwoJ3oxQhcQgK1OEIyae2S1ZSdChSDjDmIm+RAWiYICu/jWfl09l1FaKwRhKM3Aslc3tePzAgGOHQseqjk5ywnIwLqpJtdYJgE34jEVAflq/41jhoEHditHcmDGdmFp2WTLrke4Zbc5DBpfEz+pWoj42kYmWe6P1YBCA/OKRxxcwFWWBVyv54hyks/LsD29/gAD61MJG057iZ73ZEAPNlUCsd86ZRhDSSSBh7DJtXauwZjD2juT6XoFnmQSsHSRqefuSfeUDOByv+a8XO3H3WANIXvZlrW3U99lPVTaje+BDEUkLIrRHp3Pruisblf4G0gcHbuhnjJc+YXmWS2CZXGR0bIpqoiODx7Xqr15vZmH2R85cjk+nTl0FsH8AJQZ4oFLZhlnAq31oEV3T7SLoLT7HZrVK5VZOKgRLaWDRAYDezpIDqlB2YUtFz6EFndBWV+zr53BEcCcypwPxRCIknHFkGDuiVq0241x7RNvlyl8Mb9kVmRK8bFAlnQJ2HRs1lO36lnvSCVDj0tq6NeGfp1bw8+W7pu3F+WkMACl7seSBozg7wmAT8DB67D6oJ/zFJMWPMkUbRq8IFWe227RdkBxj1nXXUVeRUmvQYBfqkOS/BX7Zp3b/bJt93FOikmg4j9rCbszFgfFUpdSqFyxlioAKhIXFnCQjL64dPBVdOz52KxYC7mr+Y2myNFkLSdgMz35Bcxusq8UCxwgHhONTszgtgB2AkD/yqiukGT4H5y+bMJ2tY/TV8tY2nHlrXc48lhzij7Un3xrZ9p8feqDPxO9PrrJ15zLHxyhvuXEG/zbTeSM3ogVtcp3kDXe6Tv2TaMnsfihu+KIcG+oSkBmUaMVKRrhDKjzrkDKB4q4H7UsahCowYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019xgyoNQo77mFK72SPPggCh",
      "input": {
        "note": "Jug is partly tipped in front of the blue cup with the red cup visible to its left. Rolling further to ~70° here, before translating so the mouth ends over the red cup.",
        "targets": {
          "right_pitch": 0.2,
          "right_roll": -1.25,
          "right_x": 0.36,
          "right_y": 0.32,
          "right_yaw": 0.0,
          "right_z": 0.27
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_019xgyoNQo77mFK72SPPggCh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.9089, 0.9016, -0.5903, -0.0479, -0.0334, 0.9968, 1.0691, 2.3798, 2.2948, -1.4849, 1.4845, 0.4343, 0.1632]\nstate[eef_state]: left_x=0.3073 left_y=0.001 left_z=0.2399 left_yaw=0.0151 left_pitch=-0.0375 left_roll=0.0007 left_gripper=0.9968 right_x=0.3724 right_y=0.3205 right_z=0.2481 right_yaw=0.0042 right_pitch=0.1576 right_roll=-1.1365 right_gripper=0.1632\nstate[joint_eff]: [-0.0615, -2.0308, 6.9675, 1.7314, -0.0708, -0.0024, -0.0122, -0.8274, -12.3419, 8.5538, -0.1587, 1.0085, 0.0659, 0.7546]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 491):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54d7d094b3e77bf29382066455e1aa1d475b6d92b9ee5a25e4434e99281be6bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 491):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7359b3b73690af63be4503e81ced31372c2a03fb4636d24f80aa5a5752b6b03e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 491):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:47f5f2042ae0ec7b59f68fc377645cefce9f821cf8902b6c0bd125fc2161f77d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 66 attempt 0 · /messages · status 200 · 9.99 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 190 changed as sent

message 193 changed as sent

message 196 changed as sent

message 190 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.9016, 0.9016, -0.59, -0.0479, -0.0338, 0.9968, 0.7692, 1.3998, 1.0698, -0.1925, 0.6647, 0.2886, 0.1598]\nstate[eef_state]: left_x=0.3065 left_y=0.001 left_z=0.2421 left_yaw=0.0153 left_pitch=-0.0299 left_roll=0.0 left_gripper=0.9968 right_x=0.3662 right_y=0.2079 right_z=0.2454 right_yaw=0.0547 right_pitch=0.1562 right_roll=-0.0323 right_gripper=0.1598\nstate[joint_eff]: [-0.0752, -1.8667, 6.8308, 1.6972, -0.0855, -0.0513, -0.0073, 0.2803, -7.5966, 7.3094, 1.8388, 0.4322, 0.1001, 0.8523]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 193 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.9051, 0.9016, -0.5907, -0.0479, -0.0334, 0.9968, 1.0855, 1.9381, 1.689, -0.7681, 1.2098, 0.3279, 0.1605]\nstate[eef_state]: left_x=0.3068 left_y=0.001 left_z=0.2409 left_yaw=0.0151 left_pitch=-0.0341 left_roll=0.0005 left_gripper=0.9968 right_x=0.3467 right_y=0.3108 right_z=0.2436 right_yaw=0.0396 right_pitch=0.1511 right_roll=-0.6152 right_gripper=0.1605\nstate[joint_eff]: [-0.1162, -2.0581, 6.9128, 1.7705, -0.0855, -0.0171, -0.0122, 0.4581, -11.0838, 7.9521, 0.6276, 0.862, 0.1343, 0.8571]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 196 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.9089, 0.9016, -0.5903, -0.0479, -0.0334, 0.9968, 1.0691, 2.3798, 2.2948, -1.4849, 1.4845, 0.4343, 0.1632]\nstate[eef_state]: left_x=0.3073 left_y=0.001 left_z=0.2399 left_yaw=0.0151 left_pitch=-0.0375 left_roll=0.0007 left_gripper=0.9968 right_x=0.3724 right_y=0.3205 right_z=0.2481 right_yaw=0.0042 right_pitch=0.1576 right_roll=-1.1365 right_gripper=0.1632\nstate[joint_eff]: [-0.0615, -2.0308, 6.9675, 1.7314, -0.0708, -0.0024, -0.0122, -0.8274, -12.3419, 8.5538, -0.1587, 1.0085, 0.0659, 0.7546]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 491):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54d7d094b3e77bf29382066455e1aa1d475b6d92b9ee5a25e4434e99281be6bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 491):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7359b3b73690af63be4503e81ced31372c2a03fb4636d24f80aa5a5752b6b03e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 491):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47f5f2042ae0ec7b59f68fc377645cefce9f821cf8902b6c0bd125fc2161f77d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Cxica83TiHStyGj33sQUYn",
      "input": {
        "note": "The jug is now nearly horizontal with its mouth pointing left toward the red cup but still short of it. Translating forward/left and completing the roll so the mouth sits over the red cup and pours.",
        "targets": {
          "right_pitch": 0.2,
          "right_roll": -1.4,
          "right_x": 0.43,
          "right_y": 0.395,
          "right_yaw": 0.0,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Cxica83TiHStyGj33sQUYn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.9108, 0.9016, -0.59, -0.0475, -0.0338, 0.9968, 1.0592, 2.4958, 2.4489, -1.5517, 1.4799, 0.4049, 0.1643]\nstate[eef_state]: left_x=0.3076 left_y=0.0009 left_z=0.2395 left_yaw=0.015 left_pitch=-0.0391 left_roll=0.0003 left_gripper=0.9968 right_x=0.3832 right_y=0.3305 right_z=0.2334 right_yaw=0.0037 right_pitch=0.1253 right_roll=-1.1852 right_gripper=0.1643\nstate[joint_eff]: [-0.1436, -2.0034, 6.8034, 1.746, -0.0269, -0.0415, -0.0122, 0.1983, -14.1197, 7.8291, 0.0415, 0.862, 0.0904, 0.6618]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 498):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c58ffc87fd9363a73935d9f0b6caa87643593bc843da5a82e9e846782ed9ad39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 498):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62ca73e4282bc4754c83d8826e8bc4f1b016592af3c191907607c6e5b6464de5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 498):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8ec35d3c1e6d9d871e4938c21835f3498e32d8ac5f25861f7df8c99f447e791f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 67 attempt 0 · /messages · status 200 · 30.09 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 193 changed as sent

message 196 changed as sent

message 199 changed as sent

message 193 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.9051, 0.9016, -0.5907, -0.0479, -0.0334, 0.9968, 1.0855, 1.9381, 1.689, -0.7681, 1.2098, 0.3279, 0.1605]\nstate[eef_state]: left_x=0.3068 left_y=0.001 left_z=0.2409 left_yaw=0.0151 left_pitch=-0.0341 left_roll=0.0005 left_gripper=0.9968 right_x=0.3467 right_y=0.3108 right_z=0.2436 right_yaw=0.0396 right_pitch=0.1511 right_roll=-0.6152 right_gripper=0.1605\nstate[joint_eff]: [-0.1162, -2.0581, 6.9128, 1.7705, -0.0855, -0.0171, -0.0122, 0.4581, -11.0838, 7.9521, 0.6276, 0.862, 0.1343, 0.8571]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 196 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.9089, 0.9016, -0.5903, -0.0479, -0.0334, 0.9968, 1.0691, 2.3798, 2.2948, -1.4849, 1.4845, 0.4343, 0.1632]\nstate[eef_state]: left_x=0.3073 left_y=0.001 left_z=0.2399 left_yaw=0.0151 left_pitch=-0.0375 left_roll=0.0007 left_gripper=0.9968 right_x=0.3724 right_y=0.3205 right_z=0.2481 right_yaw=0.0042 right_pitch=0.1576 right_roll=-1.1365 right_gripper=0.1632\nstate[joint_eff]: [-0.0615, -2.0308, 6.9675, 1.7314, -0.0708, -0.0024, -0.0122, -0.8274, -12.3419, 8.5538, -0.1587, 1.0085, 0.0659, 0.7546]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 199 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.9108, 0.9016, -0.59, -0.0475, -0.0338, 0.9968, 1.0592, 2.4958, 2.4489, -1.5517, 1.4799, 0.4049, 0.1643]\nstate[eef_state]: left_x=0.3076 left_y=0.0009 left_z=0.2395 left_yaw=0.015 left_pitch=-0.0391 left_roll=0.0003 left_gripper=0.9968 right_x=0.3832 right_y=0.3305 right_z=0.2334 right_yaw=0.0037 right_pitch=0.1253 right_roll=-1.1852 right_gripper=0.1643\nstate[joint_eff]: [-0.1436, -2.0034, 6.8034, 1.746, -0.0269, -0.0415, -0.0122, 0.1983, -14.1197, 7.8291, 0.0415, 0.862, 0.0904, 0.6618]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 498):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c58ffc87fd9363a73935d9f0b6caa87643593bc843da5a82e9e846782ed9ad39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 498):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62ca73e4282bc4754c83d8826e8bc4f1b016592af3c191907607c6e5b6464de5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 498):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ec35d3c1e6d9d871e4938c21835f3498e32d8ac5f25861f7df8c99f447e791f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqQoKEAgRGAI4AUIIdGhpbmtpbmcSDBPiINZPPAmrWoG1zBoM7UjLnIZpIaoaxy4KIjDDpHzxfHCLD+2IUaZads6cMVLJNUseHmKADXJ2zjoNxYka1yg7cPL/oLh8EuoM2icqxgmbpW1jHdTXrXSjHZeuj7yw5Eg9wYCl/jXc9uHYAnuzHccO0Lb0fQ9tkv7eZxk/DaKtCeZFSa2WETRFmXQbfbyKhR8T9w7pDORhqfFz4DPiH5GqQXzJ9t2K/UmIp9MmpywRFM/9sGLaQryIa4zO+zjJWQH/4jnanlKZXkJWog9mzcWumGLE7qhsUyFx70l5Pg/h1epZZSW+dbRKT2btpeXsTOxhg1ZC95AZIPnGTKnsiht4lzcqRZU/FEKmSDffNb87ElXXOaVG9vOBTMMOfgAXQzdeG2UPqZS0ujbrpzKdybx/V1c9JkayqIi97ks/wDtW9MrZ1GCd6sKqeHfELDO/13sr5Mnqo2FOKhjIBN1mtHeEMI1cliKtlIj4XIrHkAo7V6Oe4V52z8XlWGnMGerz0buX4kvAh3ZH+BqHGYkRRMr2qLjmoQZkRsEqPYNsUHkf3srQxQbhB0DNZH2NHT1KU4nFEMQUJMkVpyuAqtuIteoXKxFHb9FXcQHehVOpnCzhTtNAVmO0JZtvu0ivrHB2ynyKyOmg+st8OFfty1sGnnF+VPd/iGG84VqoXMdLxCfgpxafIc3DGcUKAxYWkWq3WnjykLbH8X6xDoqDKBbF3Xhp6gTUFqQS2+s/HwksjsmHaiuxbg6/Q0QNYz32QmQf4Spc8tGMixYbUGrJDCfJwqCgknmk2hv9srMQuHdDjO0lG6pssROmWF7jid7AZEfsJZMcRb7a7FjF1Fdyx13VEbPXXZCgu5gQDupj3HDjupXCAkOOE8uIrYF64PC71PJ156R0uMRMVlT3AIAUJVJe8iQsxhrL33lBChhSS3w//1uJtCRkqluZlQVIzMARc2afodi+pmZpCPq7UuHE75og0nOzOCseaWmugbAG2S4THJ2JN5hhZ2RIu5r3Q+YD8Ti4vv45yqWsg1AjMFO/Z8LEb6nnI5Cpw0BjBKl/1zjoEZrOiQxlhm2eHQfwa+e4tLj+IhQA2xvmkiZvCtD5vGsAEG5AnMwO9JFtgL7WfpBxMviSL3wOY2c4ObWPDRadhIsNgI+K6vVlhJZq2TAt4k6IZVvcaHXm+Oag4tIXQmYkYeIQVTJpa7qtIm5myiEmkOuJUNYFjBCfwQBNemew67OOqSr7K1cdGwwF582Ua3wb6ppeRZAqFujR8RI4IhL1hGaIVmyeuTmokn5m/qmukQxPfGWlWD4RMpCZSvoXbSgS9hFITVy4VX/oulDbd5iCfGWrUI6T8vg9gLaQyPV5zpdEqwV3aPRvK1Si8pz9UcRQrlsWsGY027OJtufdtj8iuCV5u1eeHZa1ZKJr7ICW3b8M6778xNomWfupWom8XvTVb86mJ/Pfamq5oR9U6kTtOEO8w1xdf5v6NCln7wuymKL7aa4vkqE2hNO/kngVFAN8vSQJxAMHLwOGh8eInYQ0IU35ZUndIAkQnwKUWNkkKUCmEyFNJJUwiObx27wAJlm5DW6EURHywORmZL0TnYWX8SCAXcbopH9Di3dzf2DgPjOrGImsFxh3ggV6Jnx9H+boXsi+tx7FSR6CtRST4T+88KFW2BrpjCEbkuh2YBNsY3niMaiVoQYNBMgzRF7UjO36D4/BG4bOt8VqE3T5B4E9LcKQPQSlzZt9GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01X3UyKEZwk4pimiftkELxxQ",
      "input": {
        "note": "The arm stalled near its joint limits with the jug mouth just short of the red cup in the top view. Retrying with a lower height and more forward pitch to gain reach so the mouth moves over the cup.",
        "targets": {
          "right_pitch": 0.3,
          "right_roll": -1.4,
          "right_x": 0.44,
          "right_y": 0.4,
          "right_yaw": 0.0,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01X3UyKEZwk4pimiftkELxxQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.91, 0.9016, -0.5911, -0.0475, -0.0341, 0.9968, 1.0447, 2.5965, 2.6152, -1.4918, 1.5093, 0.3222, 0.1647]\nstate[eef_state]: left_x=0.3074 left_y=0.0009 left_z=0.2394 left_yaw=0.0152 left_pitch=-0.0394 left_roll=-0.0 left_gripper=0.9968 right_x=0.3991 right_y=0.3433 right_z=0.2331 right_yaw=-0.0089 right_pitch=0.1722 right_roll=-1.1622 right_gripper=0.1647\nstate[joint_eff]: [-0.0889, -1.5795, 6.8034, 1.7998, -0.0464, -0.0415, -0.0122, -2.0308, -10.865, 4.4923, -0.2711, 0.6716, -0.0513, 0.6911]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 504):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e96e1d7a1dbd7a77824f4585e12b5f949c9cb12421bd7d36e6e62aa077c081d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 504):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fa1aed9c9c0f2f48dc677837c84625dbeb0a8b74ed2ff2784449a3c44e913b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 504):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0cda61c7d3c14f7c6c043163ef0f6c26460736310e637fddc10db02528de01ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 68 attempt 0 · /messages · status 200 · 8.63 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 196 changed as sent

message 199 changed as sent

message 202 changed as sent

message 196 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.9089, 0.9016, -0.5903, -0.0479, -0.0334, 0.9968, 1.0691, 2.3798, 2.2948, -1.4849, 1.4845, 0.4343, 0.1632]\nstate[eef_state]: left_x=0.3073 left_y=0.001 left_z=0.2399 left_yaw=0.0151 left_pitch=-0.0375 left_roll=0.0007 left_gripper=0.9968 right_x=0.3724 right_y=0.3205 right_z=0.2481 right_yaw=0.0042 right_pitch=0.1576 right_roll=-1.1365 right_gripper=0.1632\nstate[joint_eff]: [-0.0615, -2.0308, 6.9675, 1.7314, -0.0708, -0.0024, -0.0122, -0.8274, -12.3419, 8.5538, -0.1587, 1.0085, 0.0659, 0.7546]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 199 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.9108, 0.9016, -0.59, -0.0475, -0.0338, 0.9968, 1.0592, 2.4958, 2.4489, -1.5517, 1.4799, 0.4049, 0.1643]\nstate[eef_state]: left_x=0.3076 left_y=0.0009 left_z=0.2395 left_yaw=0.015 left_pitch=-0.0391 left_roll=0.0003 left_gripper=0.9968 right_x=0.3832 right_y=0.3305 right_z=0.2334 right_yaw=0.0037 right_pitch=0.1253 right_roll=-1.1852 right_gripper=0.1643\nstate[joint_eff]: [-0.1436, -2.0034, 6.8034, 1.746, -0.0269, -0.0415, -0.0122, 0.1983, -14.1197, 7.8291, 0.0415, 0.862, 0.0904, 0.6618]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 202 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.91, 0.9016, -0.5911, -0.0475, -0.0341, 0.9968, 1.0447, 2.5965, 2.6152, -1.4918, 1.5093, 0.3222, 0.1647]\nstate[eef_state]: left_x=0.3074 left_y=0.0009 left_z=0.2394 left_yaw=0.0152 left_pitch=-0.0394 left_roll=-0.0 left_gripper=0.9968 right_x=0.3991 right_y=0.3433 right_z=0.2331 right_yaw=-0.0089 right_pitch=0.1722 right_roll=-1.1622 right_gripper=0.1647\nstate[joint_eff]: [-0.0889, -1.5795, 6.8034, 1.7998, -0.0464, -0.0415, -0.0122, -2.0308, -10.865, 4.4923, -0.2711, 0.6716, -0.0513, 0.6911]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 504):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e96e1d7a1dbd7a77824f4585e12b5f949c9cb12421bd7d36e6e62aa077c081d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 504):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fa1aed9c9c0f2f48dc677837c84625dbeb0a8b74ed2ff2784449a3c44e913b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 504):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cda61c7d3c14f7c6c043163ef0f6c26460736310e637fddc10db02528de01ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MXC5Q9rTdgyvbwUZ1yzfrF",
      "input": {
        "note": "The jug mouth is right at the near edge of the red cup but the arm is stalling at a joint limit in a folded configuration. Resetting pitch to zero and asking for a bit more forward reach so the mouth moves over the cup.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": -1.3,
          "right_x": 0.46,
          "right_y": 0.38,
          "right_yaw": 0.0,
          "right_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01MXC5Q9rTdgyvbwUZ1yzfrF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.9127, 0.9016, -0.59, -0.0509, -0.0345, 0.9968, 0.984, 2.7766, 2.9887, -1.2736, 1.43, -0.1856, 0.1641]\nstate[eef_state]: left_x=0.3079 left_y=0.0016 left_z=0.2389 left_yaw=0.0187 left_pitch=-0.0408 left_roll=0.0017 left_gripper=0.9968 right_x=0.4415 right_y=0.3546 right_z=0.2338 right_yaw=0.008 right_pitch=0.0732 right_roll=-1.2117 right_gripper=0.1641\nstate[joint_eff]: [-0.0479, -1.9624, 6.8855, 1.7216, -0.0073, -0.0024, -0.0122, -0.1026, -13.1761, 8.0342, 0.7595, 0.7106, -0.0952, 0.7155]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 510):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0db9116f922133b76dca45d6326ffd1468dc5bbfb186047fcfc8e583089efdf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 510):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76b80ec6cd9646b07113979939e27f21141e425a6ebd31ee8d21928e32774753",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 510):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7cb3c6c28c3765e4e394719539fee3aa330aa4008e8a8f540682e6f873d5a064",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 69 attempt 0 · /messages · status 200 · 10.69 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 199 changed as sent

message 202 changed as sent

message 205 changed as sent

message 199 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.9108, 0.9016, -0.59, -0.0475, -0.0338, 0.9968, 1.0592, 2.4958, 2.4489, -1.5517, 1.4799, 0.4049, 0.1643]\nstate[eef_state]: left_x=0.3076 left_y=0.0009 left_z=0.2395 left_yaw=0.015 left_pitch=-0.0391 left_roll=0.0003 left_gripper=0.9968 right_x=0.3832 right_y=0.3305 right_z=0.2334 right_yaw=0.0037 right_pitch=0.1253 right_roll=-1.1852 right_gripper=0.1643\nstate[joint_eff]: [-0.1436, -2.0034, 6.8034, 1.746, -0.0269, -0.0415, -0.0122, 0.1983, -14.1197, 7.8291, 0.0415, 0.862, 0.0904, 0.6618]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 202 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.91, 0.9016, -0.5911, -0.0475, -0.0341, 0.9968, 1.0447, 2.5965, 2.6152, -1.4918, 1.5093, 0.3222, 0.1647]\nstate[eef_state]: left_x=0.3074 left_y=0.0009 left_z=0.2394 left_yaw=0.0152 left_pitch=-0.0394 left_roll=-0.0 left_gripper=0.9968 right_x=0.3991 right_y=0.3433 right_z=0.2331 right_yaw=-0.0089 right_pitch=0.1722 right_roll=-1.1622 right_gripper=0.1647\nstate[joint_eff]: [-0.0889, -1.5795, 6.8034, 1.7998, -0.0464, -0.0415, -0.0122, -2.0308, -10.865, 4.4923, -0.2711, 0.6716, -0.0513, 0.6911]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 205 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.9127, 0.9016, -0.59, -0.0509, -0.0345, 0.9968, 0.984, 2.7766, 2.9887, -1.2736, 1.43, -0.1856, 0.1641]\nstate[eef_state]: left_x=0.3079 left_y=0.0016 left_z=0.2389 left_yaw=0.0187 left_pitch=-0.0408 left_roll=0.0017 left_gripper=0.9968 right_x=0.4415 right_y=0.3546 right_z=0.2338 right_yaw=0.008 right_pitch=0.0732 right_roll=-1.2117 right_gripper=0.1641\nstate[joint_eff]: [-0.0479, -1.9624, 6.8855, 1.7216, -0.0073, -0.0024, -0.0122, -0.1026, -13.1761, 8.0342, 0.7595, 0.7106, -0.0952, 0.7155]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 510):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0db9116f922133b76dca45d6326ffd1468dc5bbfb186047fcfc8e583089efdf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 510):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76b80ec6cd9646b07113979939e27f21141e425a6ebd31ee8d21928e32774753",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 510):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cb3c6c28c3765e4e394719539fee3aa330aa4008e8a8f540682e6f873d5a064",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwgkKEAgRGAI4AUIIdGhpbmtpbmcSDMNogYNAiiNldd+fABoM5+yz22WkMIgGKvsvIjCptvFEY4kiQVC2AqEmwf+PJ+tmzHKmLOyUpyLobZtFuQiYFgVBsQIHuypAV4wX1y8q3wg9eBPdIj1V5UEEQGt+Rr/yqnVNibSTBlg/oREhUoaFPGQnvNd3tIKOU0DnT/rb0aVz9q69BE1XUzxaUDGzryKiZhNASOGvtzZdFyM9XzfA9cPR/aBP2430GFMDHqk+EFzR1zohKeyisibMRdWYg3Pe5Udl3CErA9qdx3lc8z8XnOcsdWXCdrI04yhNntrMhVhuVJTswSrU9pcRKS96/qQzwx5x0GhYpnaSDzwrHtkenefqnji6iADowhF3hu55s634i3nicQIBz4ORTJVPQTM5E7wQegoqMBKHOPQww2F2GK1EBNRRF4J2AbM+4onAEtMEcBGDjgv6lzvA94+FE+ZI+37Nj9HKlgW3/Y2hkRKBWerr1sdhbhW0g28ZgW+WJYae6s2/ZpLip86nqouiOVIZC0/A+oOt/llY4OFbrtJYIBxaE8MLHS3dALAHKQBlYklm0k/DfIHr8c2YrI84XXYM7/C2Ew9vAn2PkSb/rObOmo4WjldH+3gemVi8xL7gsM0eODAvYVwt1unyFlUHwE0dmuG2BQcWpQmhV6sZCofoDMtGM69MMgXGdxg4RY167qxfThcVZQBBlJ/xCFcdVwtpxxPxXS0+fNHHi7jTVswo/ITIlGGfIouFFKTDpk1qdBD9OzhKmZO0Ez3pB1NLg6ZsV6P5/KKEAN1nWs2aLlr5dZP9YmLG4afFlA6cGCyT2Lc5MDp282OI1Jle8FCEekZkmCFj5qiyxBV/Hlrl3mGJq1pWPVY1cBah9muw2588L98/i9Gzb1yCz8FfOyEIdjO/6VhD0XTCcp1MEh+rcReLfdlXT1JlCWlSue3TnUae3yoSvoP178xEJ5Rw0kLS/Zq6pPkfDvQw4b9o4HAhBoxziDvwtdEhCQ7ULMVH0t3BWTwydHuLWUrskVIEs9enPsRqaYyXYgit3Wpj55/vnDZ0qjmvBMM5JAfxrWO7IYoOUPHz/s19J5gkfmf4x1JNhaPYj0UxPwXjkUKlQwFGcNeeIK7P3Q9ihvbmWZ1mkhoMyIyPxNLNZESrkRsX8ECGT4ysiCDwWC1hEExdk72cELNO9n57/c/VsDDe5W7NdfSH7z6olIGXN0VHXDjmDcApjjwCtE5H7vY3kDkKrW7w2QxKCCR3FW5LFWlAkHYRgFmKpMdrrzRl13VBEOHXU5bsocff2s+I177+HAfLxTPeA6Dccra+q1n8N9Y/iVCVawlpfnjKDBerQsxsAKRyjoXz7x6fSWs7ZjqQwpSVh6W+Xiaxd0pY/YOLkmtSrKRTWC4J8dVptwDkBbRiqNPlqnZPHMuA4Y+Y2ahzF7Q+e8ztm3mbPWp8fvcy+xP0Ax3MOE000RU9Mr5O5r/W9sunMWYxOb/7PeKs94G0RYrfPhi1ctdGX+HdOzl/QJNaaI2W2FjfPwAIUJqJu8v3l5GFEpLdALyIA997qz+DfyIADX77ormXfQrX7S4r3W7quDYW9lybhOX1VuQuPj67YT4ULyJeGKoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C3nuXQLJLHu4dFndZ8zEDZ",
      "input": {
        "note": "The jug's mouth now overlaps the red cup in the top view and the cup is visible under the mouth in the wrist view. Rolling the last bit to ~85° to complete the pour into the red cup.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": -1.5,
          "right_x": 0.45,
          "right_y": 0.365,
          "right_yaw": 0.0,
          "right_z": 0.235
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01C3nuXQLJLHu4dFndZ8zEDZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.9127, 0.9016, -0.5903, -0.0513, -0.0345, 0.9968, 0.9802, 2.7941, 2.9894, -1.2892, 1.4082, -0.2066, 0.164]\nstate[eef_state]: left_x=0.3078 left_y=0.0017 left_z=0.2388 left_yaw=0.019 left_pitch=-0.0412 left_roll=0.0019 left_gripper=0.9968 right_x=0.4437 right_y=0.3553 right_z=0.2208 right_yaw=0.019 right_pitch=0.0285 right_roll=-1.2455 right_gripper=0.164\nstate[joint_eff]: [-0.0615, -1.8667, 6.8171, 1.7509, -0.0464, -0.0122, -0.0073, 0.1026, -14.9949, 7.5419, 0.7106, 0.823, -0.0562, 0.7253]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 514):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30244f7f956e23a2bb5bb7f1585772bb9f5a34f6d21e09ef6bb76b128641d07e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 514):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3583cac65d9693aa5289e794fea89755abba4573e7bc17ce9149c3e73c84a2d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 514):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bc89f50d5cfd2ced32530a1b02cf3affd00e4b8163bd70e8be2ae66719115c9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 70 attempt 0 · /messages · status 200 · 11.94 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 202 changed as sent

message 205 changed as sent

message 208 changed as sent

message 202 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.036, 0.91, 0.9016, -0.5911, -0.0475, -0.0341, 0.9968, 1.0447, 2.5965, 2.6152, -1.4918, 1.5093, 0.3222, 0.1647]\nstate[eef_state]: left_x=0.3074 left_y=0.0009 left_z=0.2394 left_yaw=0.0152 left_pitch=-0.0394 left_roll=-0.0 left_gripper=0.9968 right_x=0.3991 right_y=0.3433 right_z=0.2331 right_yaw=-0.0089 right_pitch=0.1722 right_roll=-1.1622 right_gripper=0.1647\nstate[joint_eff]: [-0.0889, -1.5795, 6.8034, 1.7998, -0.0464, -0.0415, -0.0122, -2.0308, -10.865, 4.4923, -0.2711, 0.6716, -0.0513, 0.6911]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 205 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.9127, 0.9016, -0.59, -0.0509, -0.0345, 0.9968, 0.984, 2.7766, 2.9887, -1.2736, 1.43, -0.1856, 0.1641]\nstate[eef_state]: left_x=0.3079 left_y=0.0016 left_z=0.2389 left_yaw=0.0187 left_pitch=-0.0408 left_roll=0.0017 left_gripper=0.9968 right_x=0.4415 right_y=0.3546 right_z=0.2338 right_yaw=0.008 right_pitch=0.0732 right_roll=-1.2117 right_gripper=0.1641\nstate[joint_eff]: [-0.0479, -1.9624, 6.8855, 1.7216, -0.0073, -0.0024, -0.0122, -0.1026, -13.1761, 8.0342, 0.7595, 0.7106, -0.0952, 0.7155]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 208 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.9127, 0.9016, -0.5903, -0.0513, -0.0345, 0.9968, 0.9802, 2.7941, 2.9894, -1.2892, 1.4082, -0.2066, 0.164]\nstate[eef_state]: left_x=0.3078 left_y=0.0017 left_z=0.2388 left_yaw=0.019 left_pitch=-0.0412 left_roll=0.0019 left_gripper=0.9968 right_x=0.4437 right_y=0.3553 right_z=0.2208 right_yaw=0.019 right_pitch=0.0285 right_roll=-1.2455 right_gripper=0.164\nstate[joint_eff]: [-0.0615, -1.8667, 6.8171, 1.7509, -0.0464, -0.0122, -0.0073, 0.1026, -14.9949, 7.5419, 0.7106, 0.823, -0.0562, 0.7253]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 514):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30244f7f956e23a2bb5bb7f1585772bb9f5a34f6d21e09ef6bb76b128641d07e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 514):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3583cac65d9693aa5289e794fea89755abba4573e7bc17ce9149c3e73c84a2d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 514):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc89f50d5cfd2ced32530a1b02cf3affd00e4b8163bd70e8be2ae66719115c9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxwkKEAgRGAI4AUIIdGhpbmtpbmcSDAQ7AUrJ3L5KXhjSpxoMGyzFMxPuzFLAgw7UIjCXA548RmxmNeDJmyiXnrPlVY48dvmZ3Kn7Cd34AIr5BnJAJ6d6eUhmxu7Mu/7m+Joq5Ag6LPu16L/6YhNijUtcwxo/hT/8oSQTPWPCiKIZhz5pNzE8fT78mFA7hf80rOLkyFCTtIx3YQ4YoZIVk52borlN2eC2W/GdnGliXjJhvdGf/0aizeFypvkhEfZfrQ1SgKB9zdp8FnEta/8YgaBKOjVBnbDxfZBM6P3dMcLXl7iFNsDS9lkv+HYoE14ZkztZAjjOmFLyHBFNCt93unpeudcc+IyxYarB9t7cJFP1o+CNn9ZbBvYTgRrCNrV4Oed2i+RKCPg58oPvfbaiAG63Qwxjg0vbfWdJjzgPv6zf6NdiFlIEIdFRm4akSl4XYBIL9nw7sBWNFrgV+4i6JhcJClns8gqaqXdvhvV8S66zdbgGRlGwIc9JwsCj1+VjCjb5gtdhtYxrgfK+YneJnxQekd/bvdEiV1vC10mUXGKV1rQXncEkP6y2pq0KD7sEf54XDE8f28DhHtYfEDtTFUsnWp7iZEZ2PI6TFobKAikngh8GyAEXFVDW09UktYPIY+h0X5yHKyaEwDGQ4ulhu9j//5s/Tlp0pl6mQsPvwedQ1ZEMnkf+lv0wnxsYO/UiAt361Hg0jfUPdOU/wFvFElYWhGZDviXcPV+NgcCUVS8IicFMlLejyd2bTh3FM7Xt/1RHeEb4nIF2rb8elhUz8P633DUUr5afZsyXlmOTmg2YmGIcxrQ0fDvumXxaNnF5+SWkRvxDQngZxaKJsBmXdXF66TgPkBaMMC94FEgFnBShUN/BotD+PGKKQsuAJX35iEL6q3Pj9V++KTE18H9tMy+KvcXonLciTzNt6XORFcKDlaxCBqgE19WAIXePdNB+GRhBhzFRtRpvQYaFTYTvK2M7MGzZvJ8gTtZWQsK0eg1JkP4olSNUwTT6X1MKNSrmm/Lao4JJNMx+S6F8Qs7QOawcUTYGqRWiQLsa5O9k6BxzwsuAzbKsNgZP/0uh8PI6PP7V+AQ456yOplBGdbI0QYSwVFew9sSQ7fC7KMULguQjsGBq44EpwXqv4hsAZh/IjxIXakFpc4QW8O+0O7xQwzHwFKvaYVsHp/zRc0tA/z8kPtyAeAzejRhjSa7dI9owOOg0flT5kDCWnr3xIROPrYXPOy7YV8VY0SipvJfpah1cQiAug8B9FlGnVlUQNzyRNR4DBmHcdtlC/lTisrpL9ejywE9tqbVLLj0hQ0dM5kN3dEMNBFM5JCcA7TbMF0MBpoIzWf2WTjOP3KoO/dTYP2adySXNsJRGnwXepYwdmyHsTAl51P+tmzDBcERH2M3UxS/U4jay5Xx8w2e/OcpuarYtNxUAxaZcbLhw1GTnxR2pD9Czyf8DzSnhRUeSStG39Pi0EooeTw6YygoU7/NdpoSZrl8BbupfCGs/1xUrXaJoxPh0IkcgFkvXkNV+XB34ByGoI2Me07YugvgcDcLJ1gJP66ls4pwMedB9NgaoH/qNSjW3LF1Pw0nwDKjMP08iZNXXid9KN+xOLidbSHzB8Jh4YwxPqBbl5hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QNpWa9Hx8VVBKRAcJsDsx5",
      "input": {
        "note": "The jug has been tipped ~70° with its mouth over the red cup, completing the second pour. Rolling it back upright and moving it behind the cups to set it down.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.38,
          "right_y": 0.28,
          "right_yaw": 0.0,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01QNpWa9Hx8VVBKRAcJsDsx5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0357, 0.9127, 0.9016, -0.5907, -0.0513, -0.0349, 0.9968, 0.9195, 2.6099, 3.1165, -1.4715, 0.7643, 0.5495, 0.1641]\nstate[eef_state]: left_x=0.3078 left_y=0.0017 left_z=0.2388 left_yaw=0.0192 left_pitch=-0.0416 left_roll=0.0016 left_gripper=0.9968 right_x=0.4249 right_y=0.3617 right_z=0.2549 right_yaw=0.002 right_pitch=-0.0856 right_roll=-0.1747 right_gripper=0.1641\nstate[joint_eff]: [-0.0615, -1.894, 7.1863, 1.707, -0.0708, -0.0073, -0.0073, -0.6906, -17.6889, 6.8581, 1.4921, 0.4518, 0.1929, 0.4176]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 530):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b58668e337f2619a7f1e76dfd4500c45ddab5e5e5c3564619ceb2b8bf58dcd57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 530):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77d3d8a742152a14192c6d25a06a0fd5c5e12d39c7352c5ff592fe675ee6e38b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 530):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fdda9061b023406925b76562af3e33cf6f03e2742517ecf3dd45278d60314062",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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